Add files using upload-large-folder tool

scans/orange_pulley_oct20/converted/sessions/session_20261020_161520_983726/metadata/camera_settings_propagation.json

@@ -0,0 +1,5 @@
+{
+  "artifact_relpaths": [],
+  "status": "missing",
+  "summary": null
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_161520_983726/metadata/discovery_report.json

@@ -0,0 +1,676 @@
+{
+  "clock_policy": {
+    "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain",
+    "default_sync_time": "streams/<stream_id>/timestamps.parquet for manifest recordings",
+    "old_robot_state_domain": "lcm_utime_or_robot_clock"
+  },
+  "known_recording_code_findings": {
+    "new_record_multi_camera": [
+      "ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().",
+      "RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.",
+      "host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame()."
+    ],
+    "old_zed_robot_state_recording": [
+      "PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.",
+      "SVOData timestamp is set from payload timestamp_us via set_microseconds().",
+      "No independent host receive timestamp is present for old embedded robot states."
+    ]
+  },
+  "legacy_timestamp_sidecars": {
+    "authoritative": false,
+    "files": [
+      "timestamps_zed_SN12933256.csv"
+    ],
+    "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative"
+  },
+  "recording_dir": "recordings/20261020_161520_983726",
+  "recording_manifest": {
+    "authoritative_timestamp_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "manifest_timestamp_sidecars": [
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_161520_983726/streams/zed_12933256_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_161520_983726/streams/zed_12933256_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_161520_983726/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+      }
+    ],
+    "path": "recordings/20261020_161520_983726/recording_manifest.json",
+    "present": true,
+    "stream_count": 3
+  },
+  "recording_metadata": {
+    "calibration": {
+      "packaged": false,
+      "reason": "calibration_run_dir was not provided"
+    },
+    "camera_close_reports": [
+      {
+        "camera_lock_acquired_for_close": true,
+        "camera_type": "zed",
+        "close_warning_messages": [],
+        "read_thread_alive_after_stop": false,
+        "read_thread_alive_before_close": false,
+        "recording_enabled_after_disable": false,
+        "recording_enabled_before_close": true,
+        "recording_stop_reason": "duration_sec_limit",
+        "sdk_close_attempted": true,
+        "sdk_close_exception": null,
+        "sdk_close_retry_count": 0,
+        "sdk_is_opened_after_close": false,
+        "sdk_is_opened_before_close": true,
+        "serial_number": "12933256"
+      }
+    ],
+    "camera_image_controls": {
+      "auto_controls_frozen_during_recording": false,
+      "errors": [],
+      "established_before_warmup": true,
+      "mode": "native_auto_defaults",
+      "per_camera": {
+        "12933256": {
+          "auto_exposure_gain_enabled": true,
+          "auto_white_balance_enabled": true,
+          "camera_type": "zed",
+          "controls": {
+            "AEC_AGC": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "BRIGHTNESS": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "CONTRAST": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "EXPOSURE": {
+              "after": 91,
+              "before": 91,
+              "status": "reset_to_sdk_default"
+            },
+            "GAIN": {
+              "after": 29,
+              "before": 29,
+              "status": "reset_to_sdk_default"
+            },
+            "GAMMA": {
+              "after": 5,
+              "before": 5,
+              "status": "reset_to_sdk_default"
+            },
+            "HUE": {
+              "after": 0,
+              "before": 0,
+              "status": "reset_to_sdk_default"
+            },
+            "SATURATION": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "SHARPNESS": {
+              "after": 3,
+              "before": 3,
+              "status": "reset_to_sdk_default"
+            },
+            "WHITEBALANCE_AUTO": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "WHITEBALANCE_TEMPERATURE": {
+              "after": 4700,
+              "before": 4700,
+              "status": "reset_to_sdk_default"
+            }
+          },
+          "errors": [],
+          "initial_auto_exposure_gain": true,
+          "initial_auto_white_balance": true,
+          "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+          "status": "established",
+          "unsupported_controls": []
+        }
+      },
+      "policy_replay": false,
+      "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+      "status": "established",
+      "unmanaged_cameras": []
+    },
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "cameras": [
+      {
+        "actual_opened_profile": {
+          "actual_fps": 15.0,
+          "actual_fps_source": "camera_information.camera_configuration.fps",
+          "depth_mode": "NEURAL_PLUS",
+          "fps": 15.0,
+          "image_format": "rgb8",
+          "requested_fps": 15.0,
+          "resolution": [
+            1242,
+            2208
+          ],
+          "stream_profile_name": "HD2K",
+          "svo_compression_mode": "H265_LOSSLESS",
+          "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+        },
+        "camera_metadata": {
+          "camera_id": "right-of-ur10",
+          "camera_type": "zed",
+          "capabilities": [
+            "depth",
+            "aligned_depth_to_color",
+            "right_color",
+            "stereo_color",
+            "raw_depth",
+            "color"
+          ],
+          "color_T_depth": null,
+          "color_T_ir_left": null,
+          "color_T_ir_right": null,
+          "color_camera_frame": null,
+          "color_intrinsics": [
+            [
+              1462.1290283203125,
+              0.0,
+              1172.293212890625
+            ],
+            [
+              0.0,
+              1462.1290283203125,
+              609.028564453125
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_T_color": null,
+          "depth_camera_frame": "zed_12933256_left_rgb_camera",
+          "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+          "depth_intrinsics": [
+            [
+              1462.1290283203125,
+              0.0,
+              1172.293212890625
+            ],
+            [
+              0.0,
+              1462.1290283203125,
+              609.028564453125
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_scale_m": null,
+          "fps": 15.0,
+          "ir_left_T_color": null,
+          "ir_left_camera_frame": null,
+          "ir_right_T_color": null,
+          "ir_right_camera_frame": null,
+          "left_camera_frame": "zed_12933256_left_rgb_camera",
+          "left_rgb_camera_T_right_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "metadata": {
+            "aligned_depth_target": "left_color",
+            "color_distortion_coefficients": null,
+            "color_distortion_model": null,
+            "color_image_geometry": "zed_rectified_rgb",
+            "color_is_rectified": true,
+            "color_projection_model_used": "rectified_pinhole",
+            "color_rectification_source": "zed_sdk_rectified_view",
+            "depth_units": "metres",
+            "input_type": "INPUT_TYPE.USB",
+            "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+            "offline_recording": false,
+            "usb": {
+              "bus": "8",
+              "input_type_raw": "INPUT_TYPE.USB",
+              "is_usb3": true,
+              "note": null,
+              "pci_controller_path": "/sys/devices/pci0000:00",
+              "port_path": "1",
+              "product": "ZED-M",
+              "speed_mbps": 5000.0,
+              "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+              "usb_type_descriptor": "3.00",
+              "usb_validation_source": "linux_sysfs_video_device",
+              "video_device_path": "/dev/video2"
+            },
+            "usb_product": "ZED-M",
+            "usb_speed_mbps": 5000.0,
+            "usb_type_descriptor": "3.00"
+          },
+          "model": "ZED-M",
+          "resolution_hw": [
+            1242,
+            2208
+          ],
+          "right_camera_frame": "zed_12933256_right_rgb_camera",
+          "right_rgb_camera_T_left_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "serial_number": "12933256",
+          "stereo_baseline_m": 0.06304030865430832,
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b"
+        },
+        "camera_type": "zed",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "dropped_non_monotonic_timestamp_count": 0,
+        "dropped_stale_preofficial_timestamp_count": 0,
+        "first_official_native_frame_index": 1,
+        "frame_count": 1811,
+        "name": "right-of-ur10",
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 1811,
+        "post_native_discarded_frame_count": 0,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15,
+        "recording_path": "ZED-M_SN12933256.svo2",
+        "serial_number": "12933256",
+        "stream_summaries": {
+          "zed_12933256_depth_zed_sdk_neural_plus": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66165000,
+            "host_timestamp_max_ns": 1792527447670319527,
+            "host_timestamp_min_ns": 1792527327662201544,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67871000,
+            "median_gap_ns": 66339000.0,
+            "modality": "depth",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.081227993905385,
+            "official_frame_count": 1811,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 1811,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792527447589404842,
+            "timestamp_min_ns": 1792527327572652842,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": []
+          },
+          "zed_12933256_left_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66165000,
+            "host_timestamp_max_ns": 1792527447670319527,
+            "host_timestamp_min_ns": 1792527327662201544,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67871000,
+            "median_gap_ns": 66339000.0,
+            "modality": "left_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.081227993905385,
+            "official_frame_count": 1811,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 1811,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_left_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792527447589404842,
+            "timestamp_min_ns": 1792527327572652842,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": []
+          },
+          "zed_12933256_right_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66165000,
+            "host_timestamp_max_ns": 1792527447670319527,
+            "host_timestamp_min_ns": 1792527327662201544,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67871000,
+            "median_gap_ns": 66339000.0,
+            "modality": "right_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.081227993905385,
+            "official_frame_count": 1811,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 1811,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_right_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792527447589404842,
+            "timestamp_min_ns": 1792527327572652842,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": []
+          }
+        },
+        "streams": [
+          {
+            "expected_fps": 15.0,
+            "modality": "left_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_left_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "right_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_right_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "depth",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+          }
+        ],
+        "timestamp_path": "timestamps_zed_SN12933256.csv"
+      }
+    ],
+    "config": {
+      "alignment_warning_frame_periods": 0.5,
+      "allow_extra_calibrated_cameras": true,
+      "calibration_pose_source": "phase_05_final",
+      "calibration_run_dir": null,
+      "camera_rig_profile_name": "single-zed-right-of-ur10",
+      "capture": {
+        "overrides_by_serial": {},
+        "realsense": {
+          "duplicate_frame_policy": null,
+          "duplicate_max_count": null,
+          "duplicate_timeout_s": null,
+          "rectify_color": null
+        },
+        "shared": {
+          "fps": null,
+          "image_format": null,
+          "require_stereo_frames": null,
+          "resolution_hw": null,
+          "retain_gpu_images": null,
+          "return_pointmap_instead_of_depth": null,
+          "warmup_frames": null
+        },
+        "zed": {
+          "allow_depth_mode_fallback": null,
+          "coordinate_units": null,
+          "depth_maximum_distance_m": null,
+          "depth_minimum_distance_m": null,
+          "depth_mode_name": null,
+          "depth_stabilization": null,
+          "open_timeout_sec": null
+        }
+      },
+      "capture_profile_name": "zed-hd2k15",
+      "copy_calibration_depth_snapshots": false,
+      "copy_calibration_rerun_rrd": false,
+      "copy_full_calibration_run": false,
+      "depth_mode": "neural_plus",
+      "duration_sec": 120.0,
+      "fail_on_timestamp_gaps": false,
+      "max_frames": null,
+      "max_frames_no_progress_timeout_sec": 10.0,
+      "native_recording_starts_after_warmup": true,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "no_frame_poll_sleep_sec": 0.001,
+      "output_datetime": "20261020_161520_983726",
+      "pairing_validation_failure_policy": "fail",
+      "post_native_priming_max_discard_frames": 30,
+      "post_native_priming_timeout_sec": 5.0,
+      "post_record_quality_policy": "warn",
+      "post_record_validate_pairing": true,
+      "realsense_color_format": null,
+      "realsense_fps": null,
+      "realsense_height": null,
+      "realsense_official_start_consecutive_framesets": 2,
+      "realsense_streams": "color,depth",
+      "realsense_width": null,
+      "recording_profile": "dynamic-validation-safe",
+      "recording_stop_policy": "duration_or_all_max_frames",
+      "require_calibration": false,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15,
+      "stream_warmup_no_frame_timeout_sec": 10.0,
+      "timestamp_gap_warning_frame_periods": 1.5,
+      "zed_fps": null,
+      "zed_resolution": null,
+      "zed_svo_compression_mode": "h265_lossless"
+    },
+    "duration_sec": 120.0,
+    "max_frames": null,
+    "recording_active_elapsed_sec": 120.05315624799994,
+    "recording_attempt_started_at_unix_time_ns": 1792527320983722989,
+    "recording_datetime": "20261020_161520_983726",
+    "recording_elapsed_sec": 127.56976008415222,
+    "recording_manifest_path": "recording_manifest.json",
+    "recording_metadata_schema_version": 1,
+    "recording_started_at_unix_time_ns": 1792527327608380865,
+    "recording_status": "completed",
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_stop_reason": "duration_sec_limit",
+    "recording_timing": {
+      "attempt_elapsed_sec": 127.56975769996643,
+      "official_active_elapsed_sec": 120.05315624799994,
+      "official_started_at_unix_time_ns": 1792527327608380865,
+      "official_stopped_at_unix_time_ns": 1792527447661148342,
+      "preroll_elapsed_sec": 1.0568558600000415,
+      "recording_started_at_unix_time_ns": 1792527327608380865,
+      "stream_preroll": {
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_recording_starts_after_warmup": true,
+        "per_camera_preroll_frame_count": {
+          "12933256": 15
+        },
+        "post_native_priming": {
+          "per_camera_discarded_frame_count": {
+            "12933256": 0
+          },
+          "per_camera_first_official_native_frame_index": {
+            "12933256": 1
+          },
+          "per_camera_post_native_priming_frame_count": {
+            "12933256": 1
+          },
+          "post_native_priming_applied": true,
+          "post_native_priming_elapsed_sec": 0.04210433099990496
+        },
+        "preroll_elapsed_sec": 1.0568558600000415,
+        "stream_settle_sec": 0.0,
+        "stream_warmup_frames": 15
+      },
+      "wind_down_elapsed_sec": 0.8923079630000075
+    },
+    "stream_preroll": {
+      "first_official_native_frame_index": 1,
+      "native_container_includes_post_native_priming_frames": true,
+      "native_container_includes_preroll_frames": false,
+      "native_recording_starts_after_warmup": true,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.04210433099990496
+      },
+      "preroll_elapsed_sec": 1.0568558600000415,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15
+    },
+    "stream_settle_sec": 0.0,
+    "stream_warmup_frames": 15,
+    "timestamp_validation_policy": {
+      "alignment_warning_frame_periods": 0.5,
+      "fail_on_timestamp_gaps": false,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "timestamp_gap_warning_frame_periods": 1.5
+    }
+  },
+  "source_files": [
+    {
+      "name": "ZED-M_SN12933256.svo2",
+      "path": "recordings/20261020_161520_983726/ZED-M_SN12933256.svo2",
+      "sha256": null,
+      "size_bytes": 4573452777,
+      "suffix": ".svo2"
+    }
+  ],
+  "timestamp_sidecars": [
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1792527447589404842,
+      "device_timestamp_min_ns": 1792527327572652842,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 1810,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1792527447670319527,
+      "host_timestamp_min_ns": 1792527327662201544,
+      "path": "recordings/20261020_161520_983726/timestamps_zed_SN12933256.csv",
+      "row_count": 1811
+    }
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_161520_983726/metadata/discovery_report.md

@@ -0,0 +1,42 @@
+# Recording Discovery Report
+
+Recording directory: `recordings/20261020_161520_983726`
+
+## Clock Policy
+
+- Do not assume camera/device/robot timestamps share a clock domain.
+- Use manifest Parquet timestamp sidecars as authoritative when `recording_manifest.json` is present.
+- For explicit legacy conversion, use joined, trustworthy host timestamps as default synchronization time when available.
+- Preserve acquisition/device timestamps as auxiliary columns.
+- Mark old embedded robot states as `lcm_utime_or_robot_clock` when no host receive time exists.
+
+## Source Files
+
+- `ZED-M_SN12933256.svo2`: 4573452777 bytes
+
+## Timestamp Sources
+
+- Authoritative timestamp source: `streams/<stream_id>/timestamps.parquet`.
+- Native video/container PTS is not used for cross-stream synchronization.
+- Legacy CSV timestamp sidecars, when present, are compatibility/debug artifacts only.
+
+### Manifest Parquet Sidecars
+- `zed_12933256_left_rgb`: `streams/zed_12933256_left_rgb/timestamps.parquet`
+- `zed_12933256_right_rgb`: `streams/zed_12933256_right_rgb/timestamps.parquet`
+- `zed_12933256_depth_zed_sdk_neural_plus`: `streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet`
+
+## Legacy CSV Timestamp Sidecars
+
+- `timestamps_zed_SN12933256.csv`: rows=1811, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+
+## Recording Code Findings
+
+### new_record_multi_camera
+- ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().
+- RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.
+- host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame().
+
+### old_zed_robot_state_recording
+- PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.
+- SVOData timestamp is set from payload timestamp_us via set_microseconds().
+- No independent host receive timestamp is present for old embedded robot states.

scans/orange_pulley_oct20/converted/sessions/session_20261020_161520_983726/metadata/grouped_zed_export_provenance.json

@@ -0,0 +1,19 @@
+{
+  "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_161520_983726/ZED-M_SN12933256.svo2": {
+    "export_mode": "one_pass",
+    "first_native_container_frame_index": 1,
+    "grouped_zed_export": true,
+    "native_index_grab_plan_seek_count": 1,
+    "probe_depth_mode_none": "NONE",
+    "probe_depth_mode_target": "NEURAL_PLUS",
+    "recording_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_161520_983726/ZED-M_SN12933256.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb",
+      "zed_12933256_depth_zed_sdk_neural_plus"
+    ]
+  }
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_161520_983726/metadata/recording_metadata.json

@@ -0,0 +1,596 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20261020_161520_983726",
+  "recording_status": "completed",
+  "recording_attempt_started_at_unix_time_ns": 1792527320983722989,
+  "recording_started_at_unix_time_ns": 1792527327608380865,
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "duration_sec": 120.0,
+  "max_frames": null,
+  "stream_warmup_frames": 15,
+  "stream_settle_sec": 0.0,
+  "recording_stop_policy": "duration_or_all_max_frames",
+  "timestamp_validation_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false
+  },
+  "recording_manifest_path": "recording_manifest.json",
+  "config": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "capture_profile_name": "zed-hd2k15",
+    "capture": {
+      "shared": {
+        "resolution_hw": null,
+        "fps": null,
+        "image_format": null,
+        "warmup_frames": null,
+        "retain_gpu_images": null,
+        "return_pointmap_instead_of_depth": null,
+        "require_stereo_frames": null
+      },
+      "zed": {
+        "depth_mode_name": null,
+        "allow_depth_mode_fallback": null,
+        "coordinate_units": null,
+        "depth_stabilization": null,
+        "depth_minimum_distance_m": null,
+        "depth_maximum_distance_m": null,
+        "open_timeout_sec": null
+      },
+      "realsense": {
+        "rectify_color": null,
+        "duplicate_frame_policy": null,
+        "duplicate_timeout_s": null,
+        "duplicate_max_count": null
+      },
+      "overrides_by_serial": {}
+    },
+    "output_datetime": "20261020_161520_983726",
+    "duration_sec": 120.0,
+    "max_frames": null,
+    "zed_resolution": null,
+    "zed_fps": null,
+    "zed_svo_compression_mode": "h265_lossless",
+    "realsense_fps": null,
+    "realsense_width": null,
+    "realsense_height": null,
+    "realsense_color_format": null,
+    "realsense_streams": "color,depth",
+    "depth_mode": "neural_plus",
+    "calibration_run_dir": null,
+    "calibration_pose_source": "phase_05_final",
+    "require_calibration": false,
+    "copy_calibration_rerun_rrd": false,
+    "copy_calibration_depth_snapshots": false,
+    "copy_full_calibration_run": false,
+    "allow_extra_calibrated_cameras": true,
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "max_frames_no_progress_timeout_sec": 10.0,
+    "no_frame_poll_sleep_sec": 0.001,
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "stream_warmup_no_frame_timeout_sec": 10.0,
+    "native_recording_starts_after_warmup": true,
+    "post_native_priming_timeout_sec": 5.0,
+    "post_native_priming_max_discard_frames": 30,
+    "realsense_official_start_consecutive_framesets": 2,
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_profile": "dynamic-validation-safe",
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "post_record_quality_policy": "warn"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "cameras": [
+    {
+      "name": "right-of-ur10",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamp_path": "timestamps_zed_SN12933256.csv",
+      "frame_count": 1811,
+      "dropped_non_monotonic_timestamp_count": 0,
+      "streams": [
+        {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        }
+      ],
+      "official_frame_count": 1811,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "preroll_frame_count": 15,
+      "post_native_priming_frame_count": 1,
+      "first_official_native_frame_index": 1,
+      "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+      "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+      "dropped_stale_preofficial_timestamp_count": 0,
+      "post_native_discarded_frame_count": 0,
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_metadata": {
+        "camera_id": "right-of-ur10",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "model": "ZED-M",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "color_intrinsics": [
+          [
+            1462.1290283203125,
+            0.0,
+            1172.293212890625
+          ],
+          [
+            0.0,
+            1462.1290283203125,
+            609.028564453125
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "depth_intrinsics": [
+          [
+            1462.1290283203125,
+            0.0,
+            1172.293212890625
+          ],
+          [
+            0.0,
+            1462.1290283203125,
+            609.028564453125
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "color_T_depth": null,
+        "depth_T_color": null,
+        "color_T_ir_left": null,
+        "ir_left_T_color": null,
+        "color_T_ir_right": null,
+        "ir_right_T_color": null,
+        "left_rgb_camera_T_right_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "right_rgb_camera_T_left_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            -0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "left_camera_frame": "zed_12933256_left_rgb_camera",
+        "right_camera_frame": "zed_12933256_right_rgb_camera",
+        "depth_camera_frame": "zed_12933256_left_rgb_camera",
+        "color_camera_frame": null,
+        "ir_left_camera_frame": null,
+        "ir_right_camera_frame": null,
+        "stereo_baseline_m": 0.06304030865430832,
+        "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+        "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+        "depth_scale_m": null,
+        "capabilities": [
+          "depth",
+          "aligned_depth_to_color",
+          "right_color",
+          "stereo_color",
+          "raw_depth",
+          "color"
+        ],
+        "metadata": {
+          "color_image_geometry": "zed_rectified_rgb",
+          "color_distortion_coefficients": null,
+          "color_distortion_model": null,
+          "color_is_rectified": true,
+          "color_projection_model_used": "rectified_pinhole",
+          "color_rectification_source": "zed_sdk_rectified_view",
+          "depth_units": "metres",
+          "aligned_depth_target": "left_color",
+          "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+          "offline_recording": false,
+          "input_type": "INPUT_TYPE.USB",
+          "usb": {
+            "video_device_path": "/dev/video2",
+            "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+            "bus": "8",
+            "port_path": "1",
+            "pci_controller_path": "/sys/devices/pci0000:00",
+            "usb_type_descriptor": "3.00",
+            "speed_mbps": 5000.0,
+            "product": "ZED-M",
+            "is_usb3": true,
+            "input_type_raw": "INPUT_TYPE.USB",
+            "usb_validation_source": "linux_sysfs_video_device",
+            "note": null
+          },
+          "usb_type_descriptor": "3.00",
+          "usb_speed_mbps": 5000.0,
+          "usb_product": "ZED-M"
+        }
+      },
+      "stream_summaries": {
+        "zed_12933256_left_rgb": {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 1811,
+          "expected_fps": 15.0,
+          "observed_fps": 15.081227993905385,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792527327572652842,
+          "timestamp_max_ns": 1792527447589404842,
+          "median_gap_ns": 66339000.0,
+          "max_gap_ns": 67871000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 66165000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 1811,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792527327662201544,
+          "host_timestamp_max_ns": 1792527447670319527,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        },
+        "zed_12933256_right_rgb": {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 1811,
+          "expected_fps": 15.0,
+          "observed_fps": 15.081227993905385,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792527327572652842,
+          "timestamp_max_ns": 1792527447589404842,
+          "median_gap_ns": 66339000.0,
+          "max_gap_ns": 67871000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 66165000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 1811,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792527327662201544,
+          "host_timestamp_max_ns": 1792527447670319527,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        },
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 1811,
+          "expected_fps": 15.0,
+          "observed_fps": 15.081227993905385,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792527327572652842,
+          "timestamp_max_ns": 1792527447589404842,
+          "median_gap_ns": 66339000.0,
+          "max_gap_ns": 67871000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 66165000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 1811,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792527327662201544,
+          "host_timestamp_max_ns": 1792527447670319527,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        }
+      }
+    }
+  ],
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 91,
+            "after": 91
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 29,
+            "after": 29
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "stream_preroll": {
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "preroll_elapsed_sec": 1.0568558600000415,
+    "native_recording_starts_after_warmup": true,
+    "native_container_includes_preroll_frames": false,
+    "native_container_includes_post_native_priming_frames": true,
+    "first_official_native_frame_index": 1,
+    "per_camera_preroll_frame_count": {
+      "12933256": 15
+    },
+    "post_native_priming": {
+      "post_native_priming_applied": true,
+      "post_native_priming_elapsed_sec": 0.04210433099990496,
+      "per_camera_discarded_frame_count": {
+        "12933256": 0
+      },
+      "per_camera_post_native_priming_frame_count": {
+        "12933256": 1
+      },
+      "per_camera_first_official_native_frame_index": {
+        "12933256": 1
+      }
+    }
+  },
+  "camera_close_reports": [
+    {
+      "camera_type": "zed",
+      "serial_number": "12933256",
+      "recording_enabled_before_close": true,
+      "recording_enabled_after_disable": false,
+      "read_thread_alive_before_close": false,
+      "read_thread_alive_after_stop": false,
+      "camera_lock_acquired_for_close": true,
+      "sdk_close_attempted": true,
+      "sdk_is_opened_before_close": true,
+      "sdk_is_opened_after_close": false,
+      "sdk_close_retry_count": 0,
+      "sdk_close_exception": null,
+      "close_warning_messages": [],
+      "recording_stop_reason": "duration_sec_limit"
+    }
+  ],
+  "recording_elapsed_sec": 127.56976008415222,
+  "recording_active_elapsed_sec": 120.05315624799994,
+  "recording_timing": {
+    "attempt_elapsed_sec": 127.56975769996643,
+    "official_active_elapsed_sec": 120.05315624799994,
+    "preroll_elapsed_sec": 1.0568558600000415,
+    "wind_down_elapsed_sec": 0.8923079630000075,
+    "recording_started_at_unix_time_ns": 1792527327608380865,
+    "official_started_at_unix_time_ns": 1792527327608380865,
+    "official_stopped_at_unix_time_ns": 1792527447661148342,
+    "stream_preroll": {
+      "stream_warmup_frames": 15,
+      "stream_settle_sec": 0.0,
+      "preroll_elapsed_sec": 1.0568558600000415,
+      "native_recording_starts_after_warmup": true,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "first_official_native_frame_index": 1,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.04210433099990496,
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        }
+      }
+    }
+  },
+  "recording_stop_reason": "duration_sec_limit"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_161520_983726/metadata/session.json

@@ -0,0 +1,43 @@
+{
+  "conversion_time": "2026-10-20T20:21:00.872640+00:00",
+  "converter_command": [
+    "/home/shaunak/Code/grasp/belt_perception/.venv/bin/python",
+    "-m",
+    "dataset_converter.convert_session",
+    "--recording-dir",
+    "recordings/20261020_161520_983726",
+    "--output-root",
+    "converted_datasets",
+    "--input-format",
+    "manifest",
+    "--zed-streams",
+    "all",
+    "--depth-encoder",
+    "zdepth",
+    "--calibration-source",
+    "packaged-if-present",
+    "--zdepth-over-max-behavior",
+    "clamp",
+    "--timestamp-gap-policy",
+    "warn",
+    "--timestamp-rate-policy",
+    "warn",
+    "--large-gap-fail-multiplier",
+    "3.5",
+    "--validate"
+  ],
+  "converter_git_commit": "46f912eefa2dce720b79df547085b8bbdb858ad2",
+  "dataset_format_version": "0.1.0",
+  "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers",
+  "pyav_version": "17.0.1",
+  "realsense_sdk_version": "2.58.2",
+  "session_description": "",
+  "session_description_editing_note": "Edit metadata/session_description.md after conversion to update the human-readable session purpose/contents note.",
+  "session_description_path": "metadata/session_description.md",
+  "session_description_source": "editable_template",
+  "session_id": "session_20261020_161520_983726",
+  "source_file_hashes": {
+    "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_161520_983726/ZED-M_SN12933256.svo2": "9a3dd8796ddc332f8f972749aae4a0bf81be16d68f920dbc97e7675578f15f1c"
+  },
+  "zed_sdk_version": "5.5.0"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/calibration.json

@@ -0,0 +1,777 @@
+{
+  "camera_frame_conventions": {
+    "zed_12933256_depth_zed_sdk_neural_plus": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_left_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_right_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
+  },
+  "camera_intrinsics": {
+    "zed_12933256_depth_zed_sdk_neural_plus": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.2926025390625,
+        "cy": 609.0181274414062,
+        "fx": 1461.6865234375,
+        "fy": 1461.6865234375
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.2926025390625,
+        "cy": 609.0181274414062,
+        "fx": 1461.6865234375,
+        "fy": 1461.6865234375
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_left_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.2926025390625,
+        "cy": 609.0181274414062,
+        "fx": 1461.6865234375,
+        "fy": 1461.6865234375
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.2926025390625,
+        "cy": 609.0181274414062,
+        "fx": 1461.6865234375,
+        "fy": 1461.6865234375
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_right_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.2926025390625,
+        "cy": 609.0181274414062,
+        "fx": 1461.6865234375,
+        "fy": 1461.6865234375
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.2926025390625,
+        "cy": 609.0181274414062,
+        "fx": 1461.6865234375,
+        "fy": 1461.6865234375
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
+  },
+  "coordinate_frame_names": {
+    "calib_board": "calibration board frame",
+    "camera": "camera optical frame for the associated stream",
+    "panda_link0": "Franka base link frame when available",
+    "world": "workspace/world frame when available",
+    "zed_12933256_left_rgb_camera": "zed optical frame (depth)",
+    "zed_12933256_right_rgb_camera": "zed optical frame (right_rgb)"
+  },
+  "depth_scale": {
+    "zed_12933256_depth_zed_sdk_neural_plus": 1.0,
+    "zed_12933256_left_rgb": 1.0,
+    "zed_12933256_right_rgb": 1.0
+  },
+  "distortion_coefficients": {
+    "zed_12933256_depth_zed_sdk_neural_plus": null,
+    "zed_12933256_left_rgb": null,
+    "zed_12933256_right_rgb": null
+  },
+  "distortion_model": {
+    "zed_12933256_depth_zed_sdk_neural_plus": "zed_sdk",
+    "zed_12933256_left_rgb": "zed_sdk",
+    "zed_12933256_right_rgb": "zed_sdk"
+  },
+  "franka_calibration": null,
+  "intrinsics_resolution": {
+    "zed_12933256_depth_zed_sdk_neural_plus": [
+      2208,
+      1242
+    ],
+    "zed_12933256_left_rgb": [
+      2208,
+      1242
+    ],
+    "zed_12933256_right_rgb": [
+      2208,
+      1242
+    ]
+  },
+  "matrix_storage_order": "row_major",
+  "optical_frames": {
+    "zed_12933256_left_rgb_camera": {
+      "device_serial": "12933256",
+      "role": "depth",
+      "same_as_left_rgb": true,
+      "sensor_type": "zed"
+    },
+    "zed_12933256_right_rgb_camera": {
+      "device_serial": "12933256",
+      "role": "right_rgb",
+      "sensor_type": "zed"
+    }
+  },
+  "packaged_calibration": {
+    "converted_relative_package_dir": null,
+    "manifest": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "recording_relative_source_dir": "calibration",
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ]
+  },
+  "source_file_hashes": {},
+  "stereo_baseline_m": {
+    "zed_12933256_depth_zed_sdk_neural_plus": 0.06304030865430832,
+    "zed_12933256_left_rgb": 0.06304030865430832,
+    "zed_12933256_right_rgb": 0.06304030865430832
+  },
+  "stereo_baseline_units": "meters",
+  "stream_frame_assignment": {
+    "zed_12933256_depth_zed_sdk_neural_plus": "zed_12933256_left_rgb_camera",
+    "zed_12933256_left_rgb": "zed_12933256_left_rgb_camera",
+    "zed_12933256_right_rgb": "zed_12933256_right_rgb_camera"
+  },
+  "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+  "transforms": [
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform",
+      "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    },
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform_inverse",
+      "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    }
+  ],
+  "units": {
+    "depth": "stream-specific, see per-stream depth_scale",
+    "rotation": "unitless",
+    "translation": "meters"
+  },
+  "valid_stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/camera_settings_propagation.json

@@ -0,0 +1,5 @@
+{
+  "artifact_relpaths": [],
+  "status": "missing",
+  "summary": null
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/conversion_plan.json

@@ -0,0 +1,550 @@
+{
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "transforms_index_path": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ],
+    "world_T_camera_bundle_path": null
+  },
+  "camera_settings": {
+    "artifact_paths": {},
+    "status": "missing",
+    "summary": null
+  },
+  "depth_encoder": "zdepth",
+  "recording_dir": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079",
+  "recording_manifest_path": "recording_manifest.json",
+  "recording_metadata_path": "recording_metadata.json",
+  "streams": [
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": null,
+      "first_official_native_frame_index": 1,
+      "modality": "left_rgb",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 1811,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 1811,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_left_rgb",
+      "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 0,
+        "large_gap_count_total": 0,
+        "max_device_gap_ns": 67346000,
+        "max_gap_ns_total": 67346000,
+        "max_host_gap_ns": 77244668,
+        "max_non_startup_gap_ns": 67346000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 0,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        },
+        "row_count": 1811,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": false,
+        "validation_decision": "passed",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+          "max_within_stream_inter_frame_gap_ns": 67346000,
+          "median_period_error_ratio": 0.004982504975087475,
+          "median_within_stream_inter_frame_period_ns": 66334500.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.08251988276099,
+          "observed_fps_ratio": 1.0055013255173992,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 1810,
+          "within_stream_large_gap_count": 0,
+          "within_stream_large_gap_rate": 0.0
+        },
+        "validation_reasons": [],
+        "warnings": []
+      },
+      "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+      "zed_depth_mode": null
+    },
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": null,
+      "first_official_native_frame_index": 1,
+      "modality": "right_rgb",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 1811,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 1811,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_right_rgb",
+      "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 0,
+        "large_gap_count_total": 0,
+        "max_device_gap_ns": 67346000,
+        "max_gap_ns_total": 67346000,
+        "max_host_gap_ns": 77244668,
+        "max_non_startup_gap_ns": 67346000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 0,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        },
+        "row_count": 1811,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": false,
+        "validation_decision": "passed",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+          "max_within_stream_inter_frame_gap_ns": 67346000,
+          "median_period_error_ratio": 0.004982504975087475,
+          "median_within_stream_inter_frame_period_ns": 66334500.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.08251988276099,
+          "observed_fps_ratio": 1.0055013255173992,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 1810,
+          "within_stream_large_gap_count": 0,
+          "within_stream_large_gap_rate": 0.0
+        },
+        "validation_reasons": [],
+        "warnings": []
+      },
+      "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+      "zed_depth_mode": null
+    },
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": "zdepth",
+      "first_official_native_frame_index": 1,
+      "modality": "depth",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 1811,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 1811,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 0,
+        "large_gap_count_total": 0,
+        "max_device_gap_ns": 67346000,
+        "max_gap_ns_total": 67346000,
+        "max_host_gap_ns": 77244668,
+        "max_non_startup_gap_ns": 67346000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 0,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        },
+        "row_count": 1811,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": false,
+        "validation_decision": "passed",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+          "max_within_stream_inter_frame_gap_ns": 67346000,
+          "median_period_error_ratio": 0.004982504975087475,
+          "median_within_stream_inter_frame_period_ns": 66334500.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.08251988276099,
+          "observed_fps_ratio": 1.0055013255173992,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 1810,
+          "within_stream_large_gap_count": 0,
+          "within_stream_large_gap_rate": 0.0
+        },
+        "validation_reasons": [],
+        "warnings": []
+      },
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "zed_depth_mode": "NEURAL_PLUS"
+    }
+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.005,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed",
+          "plan_warnings": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed",
+          "plan_warnings": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed",
+          "plan_warnings": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.005,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+            "max_within_stream_inter_frame_gap_ns": 67346000,
+            "median_period_error_ratio": 0.004982504975087475,
+            "median_within_stream_inter_frame_period_ns": 66334500.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.08251988276099,
+            "observed_fps_ratio": 1.0055013255173992,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 67346000,
+              "median_gap_ns": 66334500.0,
+              "observed_fps": 15.08251988276099,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 1810,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+            "max_within_stream_inter_frame_gap_ns": 67346000,
+            "median_period_error_ratio": 0.004982504975087475,
+            "median_within_stream_inter_frame_period_ns": 66334500.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.08251988276099,
+            "observed_fps_ratio": 1.0055013255173992,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 67346000,
+              "median_gap_ns": 66334500.0,
+              "observed_fps": 15.08251988276099,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 1810,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+            "max_within_stream_inter_frame_gap_ns": 67346000,
+            "median_period_error_ratio": 0.004982504975087475,
+            "median_within_stream_inter_frame_period_ns": 66334500.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.08251988276099,
+            "observed_fps_ratio": 1.0055013255173992,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 67346000,
+              "median_gap_ns": 66334500.0,
+              "observed_fps": 15.08251988276099,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 1810,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        }
+      }
+    }
+  }
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/conversion_plan_validation_report.json

@@ -0,0 +1,421 @@
+{
+  "authoritative_timestamps": "streams/<stream_id>/timestamps.parquet",
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "transforms_index_path": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ],
+    "world_T_camera_bundle_path": null
+  },
+  "camera_settings": {
+    "artifact_paths": {},
+    "status": "missing",
+    "summary": null
+  },
+  "container_pts_for_synchronization": false,
+  "recording_timestamp_gap_warnings": {
+    "status": "passed",
+    "streams": {
+      "zed_12933256_depth_zed_sdk_neural_plus": {
+        "decision": "passed",
+        "plan_warnings": [],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        }
+      },
+      "zed_12933256_left_rgb": {
+        "decision": "passed",
+        "plan_warnings": [],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        }
+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed",
+        "plan_warnings": [],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        }
+      }
+    },
+    "timestamp_gap_policy": "warn"
+  },
+  "status": "passed",
+  "stream_count": 3,
+  "stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.005,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed",
+          "plan_warnings": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed",
+          "plan_warnings": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed",
+          "plan_warnings": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.005,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+            "max_within_stream_inter_frame_gap_ns": 67346000,
+            "median_period_error_ratio": 0.004982504975087475,
+            "median_within_stream_inter_frame_period_ns": 66334500.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.08251988276099,
+            "observed_fps_ratio": 1.0055013255173992,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 67346000,
+              "median_gap_ns": 66334500.0,
+              "observed_fps": 15.08251988276099,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 1810,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+            "max_within_stream_inter_frame_gap_ns": 67346000,
+            "median_period_error_ratio": 0.004982504975087475,
+            "median_within_stream_inter_frame_period_ns": 66334500.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.08251988276099,
+            "observed_fps_ratio": 1.0055013255173992,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 67346000,
+              "median_gap_ns": 66334500.0,
+              "observed_fps": 15.08251988276099,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 1810,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+            "max_within_stream_inter_frame_gap_ns": 67346000,
+            "median_period_error_ratio": 0.004982504975087475,
+            "median_within_stream_inter_frame_period_ns": 66334500.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.08251988276099,
+            "observed_fps_ratio": 1.0055013255173992,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 67346000,
+              "median_gap_ns": 66334500.0,
+              "observed_fps": 15.08251988276099,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 1810,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          }
+        }
+      }
+    }
+  },
+  "validation_scope": "manifest_conversion_plan",
+  "within_stream_inter_frame_timestamp_validation": {
+    "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+    "policy": {
+      "fail_on_duplicate_timestamps": true,
+      "fail_on_missing_timestamps": true,
+      "fail_on_non_monotonic_timestamps": true,
+      "gap_policy": "warn",
+      "large_gap_warning_multiplier": 1.5,
+      "max_gap_fail_multiplier": 3.5,
+      "max_large_gap_count": null,
+      "max_large_gap_rate": 0.005,
+      "median_period_tolerance_ratio": 0.05,
+      "min_observed_fps_ratio": 0.98,
+      "rate_policy": "warn"
+    },
+    "scope": "within_stream_inter_frame_timestamp_validation",
+    "status": "passed",
+    "streams": {
+      "zed_12933256_depth_zed_sdk_neural_plus": {
+        "decision": "passed",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+          "max_within_stream_inter_frame_gap_ns": 67346000,
+          "median_period_error_ratio": 0.004982504975087475,
+          "median_within_stream_inter_frame_period_ns": 66334500.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.08251988276099,
+          "observed_fps_ratio": 1.0055013255173992,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 1810,
+          "within_stream_large_gap_count": 0,
+          "within_stream_large_gap_rate": 0.0
+        },
+        "reasons": [],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        }
+      },
+      "zed_12933256_left_rgb": {
+        "decision": "passed",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+          "max_within_stream_inter_frame_gap_ns": 67346000,
+          "median_period_error_ratio": 0.004982504975087475,
+          "median_within_stream_inter_frame_period_ns": 66334500.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.08251988276099,
+          "observed_fps_ratio": 1.0055013255173992,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 1810,
+          "within_stream_large_gap_count": 0,
+          "within_stream_large_gap_rate": 0.0
+        },
+        "reasons": [],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        }
+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.01018999494905,
+          "max_within_stream_inter_frame_gap_ns": 67346000,
+          "median_period_error_ratio": 0.004982504975087475,
+          "median_within_stream_inter_frame_period_ns": 66334500.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.08251988276099,
+          "observed_fps_ratio": 1.0055013255173992,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "observed_fps": 15.08251988276099,
+            "warnings": []
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 1810,
+          "within_stream_large_gap_count": 0,
+          "within_stream_large_gap_rate": 0.0
+        },
+        "reasons": [],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 67346000,
+          "median_gap_ns": 66334500.0,
+          "observed_fps": 15.08251988276099,
+          "warnings": []
+        }
+      }
+    }
+  }
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/conversion_timing.json

@@ -0,0 +1,126 @@
+{
+  "conversion_id": "session_20261020_164055_069079",
+  "counts": {
+    "auto_lossless_encoder_probe_cache_miss": 2,
+    "auto_lossless_encoder_probe_run": 2,
+    "auto_lossless_probe_candidates.zed_12933256_left_rgb": 4,
+    "auto_lossless_probe_candidates.zed_12933256_right_rgb": 4,
+    "copy_manifest_source_hash_reused": 1,
+    "encoded_frame_and_hash_frames.zed_12933256_depth_zed_sdk_neural_plus": 1811,
+    "encoded_frame_and_hash_frames.zed_12933256_left_rgb": 1811,
+    "encoded_frame_and_hash_frames.zed_12933256_right_rgb": 1811,
+    "encoder_write_frames.zed_12933256_left_rgb": 1811,
+    "encoder_write_frames.zed_12933256_right_rgb": 1811,
+    "physical_container_open.ZED-M_SN12933256.svo2": 1,
+    "post_export_device_extrinsics_snapshot_hits": 1,
+    "source_file_hash_cache.miss": 1,
+    "stream_hash_frames.zed_12933256_depth_zed_sdk_neural_plus": 1811,
+    "stream_hash_frames.zed_12933256_left_rgb": 1811,
+    "stream_hash_frames.zed_12933256_right_rgb": 1811,
+    "zdepth_compress_write_frames.zed_12933256_depth_zed_sdk_neural_plus": 1811,
+    "zed_svo_probe_cache.equivalence_miss": 1,
+    "zed_svo_probe_cache.intrinsics_miss": 1
+  },
+  "durations_s": {
+    "auto_lossless_encoder_probe.zed_12933256_left_rgb": 1.9204430190002313,
+    "auto_lossless_encoder_probe.zed_12933256_right_rgb": 1.8712036629999602,
+    "auto_lossless_probe_encode.zed_12933256_left_rgb": 0.0234818519993496,
+    "auto_lossless_probe_encode.zed_12933256_right_rgb": 0.02362551699980031,
+    "auto_lossless_probe_validate.zed_12933256_left_rgb": 1.8643400430005386,
+    "auto_lossless_probe_validate.zed_12933256_right_rgb": 1.8225354219998735,
+    "copy_manifest_file_copy": 0.001353982000182441,
+    "copy_manifest_source_hashing": 4.9171999762620544e-05,
+    "dataset_manifest_update": 0.0012534210000012536,
+    "encoded_frame_and_hash.zed_12933256_depth_zed_sdk_neural_plus": 63.585424512999,
+    "encoded_frame_and_hash.zed_12933256_left_rgb": 12.380553801007409,
+    "encoded_frame_and_hash.zed_12933256_right_rgb": 12.560985494004854,
+    "encoder_write.zed_12933256_left_rgb": 34.02813854800797,
+    "encoder_write.zed_12933256_right_rgb": 34.10235192100163,
+    "grouped_zed_export": 367.4787764810003,
+    "inspect_recording_dir": 0.003791582000303606,
+    "manifest_promotion": 0.003364982999755739,
+    "overall_conversion": 537.490605854,
+    "physical_container_grab_decode.ZED-M_SN12933256.svo2": 102.95862671302257,
+    "physical_container_open.ZED-M_SN12933256.svo2": 3.0236143219999576,
+    "plan_building": 0.13314207700022962,
+    "post_export_build_calibration_json": 4.181800022706739e-05,
+    "post_export_build_stream_frame_assignment": 2.2640001589024905e-06,
+    "post_export_camera_settings_propagation": 4.146799983573146e-05,
+    "post_export_copy_manifest_calibration_package": 1.191199999084347e-05,
+    "post_export_copy_manifest_camera_settings": 1.6530002540093847e-06,
+    "post_export_copy_manifest_conversion_metadata": 0.0020036629998685385,
+    "post_export_copy_manifest_file_copy": 0.00039298199999393546,
+    "post_export_copy_manifest_recording_files": 0.00037210400023468537,
+    "post_export_copy_manifest_source_hashing": 4.9171999762620544e-05,
+    "post_export_dataset_manifest_lock": 0.003362620000189054,
+    "post_export_dataset_manifest_update": 0.0012534210000012536,
+    "post_export_enrich_camera_intrinsics": 9.156099986284971e-05,
+    "post_export_enrich_camera_intrinsics_from_snapshot": 3.909999577444978e-07,
+    "post_export_manifest_promotion": 0.003364982999755739,
+    "post_export_metadata": 0.0020154639996690094,
+    "post_export_metadata_json_write": 0.0009574229998179362,
+    "post_export_parquet_manifest_write": 0.0008833689998937189,
+    "post_export_session_manifest_row_build": 0.00011410300021452713,
+    "post_export_staged_session_rename": 0.0002500470000086352,
+    "post_export_write_calibration_json": 0.0004021489999104233,
+    "pre_export_setup": 0.2500340760002473,
+    "recording_pairing_metadata_load_or_build": 0.00014558800012309803,
+    "resolve_grouped_rgb_specs.ZED-M_SN12933256.svo2": 1.015899988487945e-05,
+    "session_manifest_row_build": 0.0010066599998026504,
+    "session_validation": 139.28782663599986,
+    "source_file_hash.ZED-M_SN12933256.svo2": 2.38817763499992,
+    "source_file_hashing": 2.398892182000054,
+    "source_frame_hash.zed_12933256_depth_zed_sdk_neural_plus": 5.018191718009348,
+    "source_frame_hash.zed_12933256_left_rgb": 7.55640732299571,
+    "source_frame_hash.zed_12933256_right_rgb": 7.681581157008168,
+    "staging_session_metadata_write": 0.24021699900004023,
+    "stream_encode.zed_12933256_depth_zed_sdk_neural_plus": 105.9019685910057,
+    "stream_encode.zed_12933256_left_rgb": 38.82485698800156,
+    "stream_encode.zed_12933256_right_rgb": 38.95694887899981,
+    "stream_export.zed_12933256_depth_zed_sdk_neural_plus": 111.29210493099163,
+    "stream_export.zed_12933256_left_rgb": 46.67953496999826,
+    "stream_export.zed_12933256_right_rgb": 46.9198570250137,
+    "stream_export_sink_close.zed_12933256_depth_zed_sdk_neural_plus": 1.3708739059998152,
+    "stream_export_sink_close.zed_12933256_left_rgb": 5.82403113700002,
+    "stream_export_sink_close.zed_12933256_right_rgb": 6.014373826000337,
+    "stream_export_sink_open.zed_12933256_depth_zed_sdk_neural_plus": 8.409500014749938e-05,
+    "stream_export_sink_open.zed_12933256_left_rgb": 0.00016152699981830665,
+    "stream_export_sink_open.zed_12933256_right_rgb": 0.00015427400012413273,
+    "stream_hash.zed_12933256_depth_zed_sdk_neural_plus": 5.018191718009348,
+    "stream_hash.zed_12933256_left_rgb": 7.55640732299571,
+    "stream_hash.zed_12933256_right_rgb": 7.681581157008168,
+    "stream_preparation": 395.342048774,
+    "table_writing": 0.07093498399990494,
+    "zdepth_compress_write.zed_12933256_depth_zed_sdk_neural_plus": 47.4035744300013,
+    "zdepth_fidelity_metrics.zed_12933256_depth_zed_sdk_neural_plus": 45.772832045003724,
+    "zdepth_finalize.zed_12933256_depth_zed_sdk_neural_plus": 1.0270283499999096,
+    "zdepth_quantize.zed_12933256_depth_zed_sdk_neural_plus": 58.4983941610044,
+    "zed_container_export.ZED-M_SN12933256.svo2": 395.3075698390003,
+    "zed_equivalence_probe.ZED-M_SN12933256.svo2": 11.165788325999983,
+    "zed_frame_loop.ZED-M_SN12933256.svo2": 364.4081079289999,
+    "zed_intrinsics_probe.ZED-M_SN12933256.svo2": 3.453075850999994,
+    "zed_sink_close.ZED-M_SN12933256.svo2": 13.209370908999972
+  },
+  "metadata": {
+    "auto_lossless_probe_cache_hits": 0,
+    "auto_lossless_probe_cache_misses": 2,
+    "auto_lossless_probe_cache_path": "/home/shaunak/.cache/belt_perception/auto_lossless_probe_cache.json",
+    "auto_lossless_probe_cache_policy": "auto",
+    "auto_lossless_probe_cache_refreshes": 0,
+    "grouped_zed_container_provenance_json": "{\"/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2\": {\"export_mode\": \"one_pass\", \"first_native_container_frame_index\": 1, \"grouped_zed_export\": true, \"native_index_grab_plan_seek_count\": 1, \"probe_depth_mode_none\": \"NONE\", \"probe_depth_mode_target\": \"NEURAL_PLUS\", \"recording_path\": \"/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_12933256_left_rgb\", \"zed_12933256_right_rgb\", \"zed_12933256_depth_zed_sdk_neural_plus\"]}}",
+    "grouped_zed_export": true,
+    "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+    "source_hash_cache_hits": 0,
+    "source_hash_cache_misses": 1,
+    "source_hash_cache_path": "/home/shaunak/.cache/belt_perception/source_hash_cache.json",
+    "source_hash_cache_policy": "auto",
+    "source_hash_worker_count": 1,
+    "zed_svo_probe_cache_equivalence_hits": 0,
+    "zed_svo_probe_cache_equivalence_misses": 1,
+    "zed_svo_probe_cache_intrinsics_hits": 0,
+    "zed_svo_probe_cache_intrinsics_misses": 1,
+    "zed_svo_probe_cache_path": "/home/shaunak/.cache/belt_perception/zed_svo_probe_cache.json",
+    "zed_svo_probe_cache_policy": "auto"
+  },
+  "overall_elapsed_s": 537.4906285060001
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/discovery_report.json

@@ -0,0 +1,676 @@
+{
+  "clock_policy": {
+    "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain",
+    "default_sync_time": "streams/<stream_id>/timestamps.parquet for manifest recordings",
+    "old_robot_state_domain": "lcm_utime_or_robot_clock"
+  },
+  "known_recording_code_findings": {
+    "new_record_multi_camera": [
+      "ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().",
+      "RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.",
+      "host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame()."
+    ],
+    "old_zed_robot_state_recording": [
+      "PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.",
+      "SVOData timestamp is set from payload timestamp_us via set_microseconds().",
+      "No independent host receive timestamp is present for old embedded robot states."
+    ]
+  },
+  "legacy_timestamp_sidecars": {
+    "authoritative": false,
+    "files": [
+      "timestamps_zed_SN12933256.csv"
+    ],
+    "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative"
+  },
+  "recording_dir": "recordings/20261020_164055_069079",
+  "recording_manifest": {
+    "authoritative_timestamp_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "manifest_timestamp_sidecars": [
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_164055_069079/streams/zed_12933256_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_164055_069079/streams/zed_12933256_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_164055_069079/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+      }
+    ],
+    "path": "recordings/20261020_164055_069079/recording_manifest.json",
+    "present": true,
+    "stream_count": 3
+  },
+  "recording_metadata": {
+    "calibration": {
+      "packaged": false,
+      "reason": "calibration_run_dir was not provided"
+    },
+    "camera_close_reports": [
+      {
+        "camera_lock_acquired_for_close": true,
+        "camera_type": "zed",
+        "close_warning_messages": [],
+        "read_thread_alive_after_stop": false,
+        "read_thread_alive_before_close": false,
+        "recording_enabled_after_disable": false,
+        "recording_enabled_before_close": true,
+        "recording_stop_reason": "duration_sec_limit",
+        "sdk_close_attempted": true,
+        "sdk_close_exception": null,
+        "sdk_close_retry_count": 0,
+        "sdk_is_opened_after_close": false,
+        "sdk_is_opened_before_close": true,
+        "serial_number": "12933256"
+      }
+    ],
+    "camera_image_controls": {
+      "auto_controls_frozen_during_recording": false,
+      "errors": [],
+      "established_before_warmup": true,
+      "mode": "native_auto_defaults",
+      "per_camera": {
+        "12933256": {
+          "auto_exposure_gain_enabled": true,
+          "auto_white_balance_enabled": true,
+          "camera_type": "zed",
+          "controls": {
+            "AEC_AGC": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "BRIGHTNESS": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "CONTRAST": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "EXPOSURE": {
+              "after": 91,
+              "before": 91,
+              "status": "reset_to_sdk_default"
+            },
+            "GAIN": {
+              "after": 64,
+              "before": 64,
+              "status": "reset_to_sdk_default"
+            },
+            "GAMMA": {
+              "after": 5,
+              "before": 5,
+              "status": "reset_to_sdk_default"
+            },
+            "HUE": {
+              "after": 0,
+              "before": 0,
+              "status": "reset_to_sdk_default"
+            },
+            "SATURATION": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "SHARPNESS": {
+              "after": 3,
+              "before": 3,
+              "status": "reset_to_sdk_default"
+            },
+            "WHITEBALANCE_AUTO": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "WHITEBALANCE_TEMPERATURE": {
+              "after": 4700,
+              "before": 4700,
+              "status": "reset_to_sdk_default"
+            }
+          },
+          "errors": [],
+          "initial_auto_exposure_gain": true,
+          "initial_auto_white_balance": true,
+          "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+          "status": "established",
+          "unsupported_controls": []
+        }
+      },
+      "policy_replay": false,
+      "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+      "status": "established",
+      "unmanaged_cameras": []
+    },
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "cameras": [
+      {
+        "actual_opened_profile": {
+          "actual_fps": 15.0,
+          "actual_fps_source": "camera_information.camera_configuration.fps",
+          "depth_mode": "NEURAL_PLUS",
+          "fps": 15.0,
+          "image_format": "rgb8",
+          "requested_fps": 15.0,
+          "resolution": [
+            1242,
+            2208
+          ],
+          "stream_profile_name": "HD2K",
+          "svo_compression_mode": "H265_LOSSLESS",
+          "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+        },
+        "camera_metadata": {
+          "camera_id": "right-of-ur10",
+          "camera_type": "zed",
+          "capabilities": [
+            "right_color",
+            "aligned_depth_to_color",
+            "stereo_color",
+            "depth",
+            "color",
+            "raw_depth"
+          ],
+          "color_T_depth": null,
+          "color_T_ir_left": null,
+          "color_T_ir_right": null,
+          "color_camera_frame": null,
+          "color_intrinsics": [
+            [
+              1461.6708984375,
+              0.0,
+              1172.2911376953125
+            ],
+            [
+              0.0,
+              1461.6708984375,
+              609.0006103515625
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_T_color": null,
+          "depth_camera_frame": "zed_12933256_left_rgb_camera",
+          "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+          "depth_intrinsics": [
+            [
+              1461.6708984375,
+              0.0,
+              1172.2911376953125
+            ],
+            [
+              0.0,
+              1461.6708984375,
+              609.0006103515625
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_scale_m": null,
+          "fps": 15.0,
+          "ir_left_T_color": null,
+          "ir_left_camera_frame": null,
+          "ir_right_T_color": null,
+          "ir_right_camera_frame": null,
+          "left_camera_frame": "zed_12933256_left_rgb_camera",
+          "left_rgb_camera_T_right_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "metadata": {
+            "aligned_depth_target": "left_color",
+            "color_distortion_coefficients": null,
+            "color_distortion_model": null,
+            "color_image_geometry": "zed_rectified_rgb",
+            "color_is_rectified": true,
+            "color_projection_model_used": "rectified_pinhole",
+            "color_rectification_source": "zed_sdk_rectified_view",
+            "depth_units": "metres",
+            "input_type": "INPUT_TYPE.USB",
+            "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+            "offline_recording": false,
+            "usb": {
+              "bus": "8",
+              "input_type_raw": "INPUT_TYPE.USB",
+              "is_usb3": true,
+              "note": null,
+              "pci_controller_path": "/sys/devices/pci0000:00",
+              "port_path": "1",
+              "product": "ZED-M",
+              "speed_mbps": 5000.0,
+              "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+              "usb_type_descriptor": "3.00",
+              "usb_validation_source": "linux_sysfs_video_device",
+              "video_device_path": "/dev/video2"
+            },
+            "usb_product": "ZED-M",
+            "usb_speed_mbps": 5000.0,
+            "usb_type_descriptor": "3.00"
+          },
+          "model": "ZED-M",
+          "resolution_hw": [
+            1242,
+            2208
+          ],
+          "right_camera_frame": "zed_12933256_right_rgb_camera",
+          "right_rgb_camera_T_left_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "serial_number": "12933256",
+          "stereo_baseline_m": 0.06304030865430832,
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b"
+        },
+        "camera_type": "zed",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "dropped_non_monotonic_timestamp_count": 0,
+        "dropped_stale_preofficial_timestamp_count": 0,
+        "first_official_native_frame_index": 1,
+        "frame_count": 1811,
+        "name": "right-of-ur10",
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 1811,
+        "post_native_discarded_frame_count": 0,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15,
+        "recording_path": "ZED-M_SN12933256.svo2",
+        "serial_number": "12933256",
+        "stream_summaries": {
+          "zed_12933256_depth_zed_sdk_neural_plus": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66276000,
+            "host_timestamp_max_ns": 1792528981014418418,
+            "host_timestamp_min_ns": 1792528861012448486,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "modality": "depth",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.08251988276099,
+            "official_frame_count": 1811,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 1811,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792528980931811135,
+            "timestamp_min_ns": 1792528860925339135,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": []
+          },
+          "zed_12933256_left_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66276000,
+            "host_timestamp_max_ns": 1792528981014418418,
+            "host_timestamp_min_ns": 1792528861012448486,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "modality": "left_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.08251988276099,
+            "official_frame_count": 1811,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 1811,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_left_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792528980931811135,
+            "timestamp_min_ns": 1792528860925339135,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": []
+          },
+          "zed_12933256_right_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66276000,
+            "host_timestamp_max_ns": 1792528981014418418,
+            "host_timestamp_min_ns": 1792528861012448486,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 67346000,
+            "median_gap_ns": 66334500.0,
+            "modality": "right_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.08251988276099,
+            "official_frame_count": 1811,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 1811,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_right_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792528980931811135,
+            "timestamp_min_ns": 1792528860925339135,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": []
+          }
+        },
+        "streams": [
+          {
+            "expected_fps": 15.0,
+            "modality": "left_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_left_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "right_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_right_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "depth",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+          }
+        ],
+        "timestamp_path": "timestamps_zed_SN12933256.csv"
+      }
+    ],
+    "config": {
+      "alignment_warning_frame_periods": 0.5,
+      "allow_extra_calibrated_cameras": true,
+      "calibration_pose_source": "phase_05_final",
+      "calibration_run_dir": null,
+      "camera_rig_profile_name": "single-zed-right-of-ur10",
+      "capture": {
+        "overrides_by_serial": {},
+        "realsense": {
+          "duplicate_frame_policy": null,
+          "duplicate_max_count": null,
+          "duplicate_timeout_s": null,
+          "rectify_color": null
+        },
+        "shared": {
+          "fps": null,
+          "image_format": null,
+          "require_stereo_frames": null,
+          "resolution_hw": null,
+          "retain_gpu_images": null,
+          "return_pointmap_instead_of_depth": null,
+          "warmup_frames": null
+        },
+        "zed": {
+          "allow_depth_mode_fallback": null,
+          "coordinate_units": null,
+          "depth_maximum_distance_m": null,
+          "depth_minimum_distance_m": null,
+          "depth_mode_name": null,
+          "depth_stabilization": null,
+          "open_timeout_sec": null
+        }
+      },
+      "capture_profile_name": "zed-hd2k15",
+      "copy_calibration_depth_snapshots": false,
+      "copy_calibration_rerun_rrd": false,
+      "copy_full_calibration_run": false,
+      "depth_mode": "neural_plus",
+      "duration_sec": 120.0,
+      "fail_on_timestamp_gaps": false,
+      "max_frames": null,
+      "max_frames_no_progress_timeout_sec": 10.0,
+      "native_recording_starts_after_warmup": true,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "no_frame_poll_sleep_sec": 0.001,
+      "output_datetime": "20261020_164055_069079",
+      "pairing_validation_failure_policy": "fail",
+      "post_native_priming_max_discard_frames": 30,
+      "post_native_priming_timeout_sec": 5.0,
+      "post_record_quality_policy": "warn",
+      "post_record_validate_pairing": true,
+      "realsense_color_format": null,
+      "realsense_fps": null,
+      "realsense_height": null,
+      "realsense_official_start_consecutive_framesets": 2,
+      "realsense_streams": "color,depth",
+      "realsense_width": null,
+      "recording_profile": "dynamic-validation-safe",
+      "recording_stop_policy": "duration_or_all_max_frames",
+      "require_calibration": false,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15,
+      "stream_warmup_no_frame_timeout_sec": 10.0,
+      "timestamp_gap_warning_frame_periods": 1.5,
+      "zed_fps": null,
+      "zed_resolution": null,
+      "zed_svo_compression_mode": "h265_lossless"
+    },
+    "duration_sec": 120.0,
+    "max_frames": null,
+    "recording_active_elapsed_sec": 120.04761410899982,
+    "recording_attempt_started_at_unix_time_ns": 1792528855069075928,
+    "recording_datetime": "20261020_164055_069079",
+    "recording_elapsed_sec": 126.69401860237122,
+    "recording_manifest_path": "recording_manifest.json",
+    "recording_metadata_schema_version": 1,
+    "recording_started_at_unix_time_ns": 1792528860948239345,
+    "recording_status": "completed",
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_stop_reason": "duration_sec_limit",
+    "recording_timing": {
+      "attempt_elapsed_sec": 126.69401574134827,
+      "official_active_elapsed_sec": 120.04761410899982,
+      "official_started_at_unix_time_ns": 1792528860948239345,
+      "official_stopped_at_unix_time_ns": 1792528980995496782,
+      "preroll_elapsed_sec": 0.9934836389998054,
+      "recording_started_at_unix_time_ns": 1792528860948239345,
+      "stream_preroll": {
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_recording_starts_after_warmup": true,
+        "per_camera_preroll_frame_count": {
+          "12933256": 15
+        },
+        "post_native_priming": {
+          "per_camera_discarded_frame_count": {
+            "12933256": 0
+          },
+          "per_camera_first_official_native_frame_index": {
+            "12933256": 1
+          },
+          "per_camera_post_native_priming_frame_count": {
+            "12933256": 1
+          },
+          "post_native_priming_applied": true,
+          "post_native_priming_elapsed_sec": 0.04224363000002995
+        },
+        "preroll_elapsed_sec": 0.9934836389998054,
+        "stream_settle_sec": 0.0,
+        "stream_warmup_frames": 15
+      },
+      "wind_down_elapsed_sec": 0.7675713510002424
+    },
+    "stream_preroll": {
+      "first_official_native_frame_index": 1,
+      "native_container_includes_post_native_priming_frames": true,
+      "native_container_includes_preroll_frames": false,
+      "native_recording_starts_after_warmup": true,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.04224363000002995
+      },
+      "preroll_elapsed_sec": 0.9934836389998054,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15
+    },
+    "stream_settle_sec": 0.0,
+    "stream_warmup_frames": 15,
+    "timestamp_validation_policy": {
+      "alignment_warning_frame_periods": 0.5,
+      "fail_on_timestamp_gaps": false,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "timestamp_gap_warning_frame_periods": 1.5
+    }
+  },
+  "source_files": [
+    {
+      "name": "ZED-M_SN12933256.svo2",
+      "path": "recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+      "sha256": null,
+      "size_bytes": 4682361133,
+      "suffix": ".svo2"
+    }
+  ],
+  "timestamp_sidecars": [
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1792528980931811135,
+      "device_timestamp_min_ns": 1792528860925339135,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 1810,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1792528981014418418,
+      "host_timestamp_min_ns": 1792528861012448486,
+      "path": "recordings/20261020_164055_069079/timestamps_zed_SN12933256.csv",
+      "row_count": 1811
+    }
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/discovery_report.md

@@ -0,0 +1,42 @@
+# Recording Discovery Report
+
+Recording directory: `recordings/20261020_164055_069079`
+
+## Clock Policy
+
+- Do not assume camera/device/robot timestamps share a clock domain.
+- Use manifest Parquet timestamp sidecars as authoritative when `recording_manifest.json` is present.
+- For explicit legacy conversion, use joined, trustworthy host timestamps as default synchronization time when available.
+- Preserve acquisition/device timestamps as auxiliary columns.
+- Mark old embedded robot states as `lcm_utime_or_robot_clock` when no host receive time exists.
+
+## Source Files
+
+- `ZED-M_SN12933256.svo2`: 4682361133 bytes
+
+## Timestamp Sources
+
+- Authoritative timestamp source: `streams/<stream_id>/timestamps.parquet`.
+- Native video/container PTS is not used for cross-stream synchronization.
+- Legacy CSV timestamp sidecars, when present, are compatibility/debug artifacts only.
+
+### Manifest Parquet Sidecars
+- `zed_12933256_left_rgb`: `streams/zed_12933256_left_rgb/timestamps.parquet`
+- `zed_12933256_right_rgb`: `streams/zed_12933256_right_rgb/timestamps.parquet`
+- `zed_12933256_depth_zed_sdk_neural_plus`: `streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet`
+
+## Legacy CSV Timestamp Sidecars
+
+- `timestamps_zed_SN12933256.csv`: rows=1811, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+
+## Recording Code Findings
+
+### new_record_multi_camera
+- ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().
+- RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.
+- host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame().
+
+### old_zed_robot_state_recording
+- PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.
+- SVOData timestamp is set from payload timestamp_us via set_microseconds().
+- No independent host receive timestamp is present for old embedded robot states.

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/grouped_zed_export_provenance.json

@@ -0,0 +1,19 @@
+{
+  "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2": {
+    "export_mode": "one_pass",
+    "first_native_container_frame_index": 1,
+    "grouped_zed_export": true,
+    "native_index_grab_plan_seek_count": 1,
+    "probe_depth_mode_none": "NONE",
+    "probe_depth_mode_target": "NEURAL_PLUS",
+    "recording_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb",
+      "zed_12933256_depth_zed_sdk_neural_plus"
+    ]
+  }
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/raw_stream_summary.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:592d0c684fe4f96e8a52ee78eb71d8be98f48c9b955e86a5ca265e62f104d703
+size 80797

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/realsense_bag_pairing.json

@@ -0,0 +1,19 @@
+{
+  "bag_index_artifact": null,
+  "depth_aligned_to_color_pairing_policy": null,
+  "frame_number_offset_median": null,
+  "frame_number_offset_p95": null,
+  "frame_number_offset_unit": "frames",
+  "legacy_native_index_pairing_detected_bad": false,
+  "per_stream_legacy_audit": [],
+  "raw_pairing_validation": {
+    "recording_dir": "recordings/20261020_164055_069079",
+    "status": "skipped_no_realsense_streams"
+  },
+  "raw_pairing_validator_status": "skipped_no_realsense_streams",
+  "realsense_bag_pairing_policy": "sdk_frame_number",
+  "recording_pairing_validation_artifact": null,
+  "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+  "safe_for_dynamic_multiview_tracking": false,
+  "temporal_pixel_sync_status": "not_applicable"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/recording_manifest.json

@@ -0,0 +1,426 @@
+{
+  "recording_manifest_schema_version": 1,
+  "recording_datetime": "20261020_164055_069079",
+  "recording_status": "completed",
+  "recording_stop_reason": "duration_sec_limit",
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "capture_profile_name": "zed-hd2k15",
+  "raw_container_policy": {
+    "zed": "svo2",
+    "realsense": "bag",
+    "direct_mkv_parquet_payload_recording": false,
+    "posthoc_conversion_required_for_ml_formats": true
+  },
+  "requested_acquisition": {
+    "capture_profile_name": "zed-hd2k15",
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "fps": null,
+    "zed_stream_profile_name": "HD2K",
+    "realsense_resolution_hw": null,
+    "realsense_image_format": null,
+    "per_camera": {
+      "zed_12933256": {
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "resolution": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8"
+      }
+    },
+    "zed_depth_mode": "NEURAL_PLUS",
+    "realsense_streams": [
+      "color",
+      "depth"
+    ],
+    "zed_svo_compression_mode": "H265_LOSSLESS"
+  },
+  "actual_acquisition": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "per_camera": {
+      "zed_12933256": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters",
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "camera_name": "right-of-ur10"
+      }
+    }
+  },
+  "recording_profile": "dynamic-validation-safe",
+  "realsense_pairing_audit": {
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "realsense_color_format": null
+  },
+  "timestamp_alignment_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "nominal_frame_period_ns": 66666667,
+    "default_nearest_neighbor_tolerance": "one nominal frame period per stream",
+    "strict_alignment_warning": "half a nominal frame period per stream",
+    "gap_warning": "per-stream timestamp gaps greater than timestamp_gap_warning_frame_periods"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 91,
+            "after": 91
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 64,
+            "after": 64
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "streams": [
+    {
+      "stream_id": "zed_12933256_left_rgb",
+      "modality": "left_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_left_rgb",
+        "modality": "left_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 1811,
+        "expected_fps": 15.0,
+        "observed_fps": 15.08251988276099,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1792528860925339135,
+        "timestamp_max_ns": 1792528980931811135,
+        "median_gap_ns": 66334500.0,
+        "max_gap_ns": 67346000,
+        "large_gap_count": 0,
+        "large_gaps": [],
+        "first_inter_frame_gap_ns": 66276000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 1811,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1792528861012448486,
+        "host_timestamp_max_ns": 1792528981014418418,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": []
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 1811,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_right_rgb",
+      "modality": "right_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_right_rgb",
+        "modality": "right_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 1811,
+        "expected_fps": 15.0,
+        "observed_fps": 15.08251988276099,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1792528860925339135,
+        "timestamp_max_ns": 1792528980931811135,
+        "median_gap_ns": 66334500.0,
+        "max_gap_ns": 67346000,
+        "large_gap_count": 0,
+        "large_gaps": [],
+        "first_inter_frame_gap_ns": 66276000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 1811,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1792528861012448486,
+        "host_timestamp_max_ns": 1792528981014418418,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": []
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 1811,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "modality": "depth",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+        "modality": "depth",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 1811,
+        "expected_fps": 15.0,
+        "observed_fps": 15.08251988276099,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1792528860925339135,
+        "timestamp_max_ns": 1792528980931811135,
+        "median_gap_ns": 66334500.0,
+        "max_gap_ns": 67346000,
+        "large_gap_count": 0,
+        "large_gaps": [],
+        "first_inter_frame_gap_ns": 66276000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 1811,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1792528861012448486,
+        "host_timestamp_max_ns": 1792528981014418418,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": []
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 1811,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    }
+  ],
+  "legacy_timestamp_csvs": [
+    "timestamps_zed_SN12933256.csv"
+  ],
+  "known_converter_gaps": [
+    "Post-hoc converter currently exports RealSense color/depth from BAG; RealSense IR BAG export remains follow-up work."
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/recording_metadata.json

@@ -0,0 +1,596 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20261020_164055_069079",
+  "recording_status": "completed",
+  "recording_attempt_started_at_unix_time_ns": 1792528855069075928,
+  "recording_started_at_unix_time_ns": 1792528860948239345,
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "duration_sec": 120.0,
+  "max_frames": null,
+  "stream_warmup_frames": 15,
+  "stream_settle_sec": 0.0,
+  "recording_stop_policy": "duration_or_all_max_frames",
+  "timestamp_validation_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false
+  },
+  "recording_manifest_path": "recording_manifest.json",
+  "config": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "capture_profile_name": "zed-hd2k15",
+    "capture": {
+      "shared": {
+        "resolution_hw": null,
+        "fps": null,
+        "image_format": null,
+        "warmup_frames": null,
+        "retain_gpu_images": null,
+        "return_pointmap_instead_of_depth": null,
+        "require_stereo_frames": null
+      },
+      "zed": {
+        "depth_mode_name": null,
+        "allow_depth_mode_fallback": null,
+        "coordinate_units": null,
+        "depth_stabilization": null,
+        "depth_minimum_distance_m": null,
+        "depth_maximum_distance_m": null,
+        "open_timeout_sec": null
+      },
+      "realsense": {
+        "rectify_color": null,
+        "duplicate_frame_policy": null,
+        "duplicate_timeout_s": null,
+        "duplicate_max_count": null
+      },
+      "overrides_by_serial": {}
+    },
+    "output_datetime": "20261020_164055_069079",
+    "duration_sec": 120.0,
+    "max_frames": null,
+    "zed_resolution": null,
+    "zed_fps": null,
+    "zed_svo_compression_mode": "h265_lossless",
+    "realsense_fps": null,
+    "realsense_width": null,
+    "realsense_height": null,
+    "realsense_color_format": null,
+    "realsense_streams": "color,depth",
+    "depth_mode": "neural_plus",
+    "calibration_run_dir": null,
+    "calibration_pose_source": "phase_05_final",
+    "require_calibration": false,
+    "copy_calibration_rerun_rrd": false,
+    "copy_calibration_depth_snapshots": false,
+    "copy_full_calibration_run": false,
+    "allow_extra_calibrated_cameras": true,
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "max_frames_no_progress_timeout_sec": 10.0,
+    "no_frame_poll_sleep_sec": 0.001,
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "stream_warmup_no_frame_timeout_sec": 10.0,
+    "native_recording_starts_after_warmup": true,
+    "post_native_priming_timeout_sec": 5.0,
+    "post_native_priming_max_discard_frames": 30,
+    "realsense_official_start_consecutive_framesets": 2,
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_profile": "dynamic-validation-safe",
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "post_record_quality_policy": "warn"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "cameras": [
+    {
+      "name": "right-of-ur10",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamp_path": "timestamps_zed_SN12933256.csv",
+      "frame_count": 1811,
+      "dropped_non_monotonic_timestamp_count": 0,
+      "streams": [
+        {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        }
+      ],
+      "official_frame_count": 1811,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "preroll_frame_count": 15,
+      "post_native_priming_frame_count": 1,
+      "first_official_native_frame_index": 1,
+      "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+      "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+      "dropped_stale_preofficial_timestamp_count": 0,
+      "post_native_discarded_frame_count": 0,
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_metadata": {
+        "camera_id": "right-of-ur10",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "model": "ZED-M",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "color_intrinsics": [
+          [
+            1461.6708984375,
+            0.0,
+            1172.2911376953125
+          ],
+          [
+            0.0,
+            1461.6708984375,
+            609.0006103515625
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "depth_intrinsics": [
+          [
+            1461.6708984375,
+            0.0,
+            1172.2911376953125
+          ],
+          [
+            0.0,
+            1461.6708984375,
+            609.0006103515625
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "color_T_depth": null,
+        "depth_T_color": null,
+        "color_T_ir_left": null,
+        "ir_left_T_color": null,
+        "color_T_ir_right": null,
+        "ir_right_T_color": null,
+        "left_rgb_camera_T_right_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "right_rgb_camera_T_left_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            -0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "left_camera_frame": "zed_12933256_left_rgb_camera",
+        "right_camera_frame": "zed_12933256_right_rgb_camera",
+        "depth_camera_frame": "zed_12933256_left_rgb_camera",
+        "color_camera_frame": null,
+        "ir_left_camera_frame": null,
+        "ir_right_camera_frame": null,
+        "stereo_baseline_m": 0.06304030865430832,
+        "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+        "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+        "depth_scale_m": null,
+        "capabilities": [
+          "right_color",
+          "aligned_depth_to_color",
+          "stereo_color",
+          "depth",
+          "color",
+          "raw_depth"
+        ],
+        "metadata": {
+          "color_image_geometry": "zed_rectified_rgb",
+          "color_distortion_coefficients": null,
+          "color_distortion_model": null,
+          "color_is_rectified": true,
+          "color_projection_model_used": "rectified_pinhole",
+          "color_rectification_source": "zed_sdk_rectified_view",
+          "depth_units": "metres",
+          "aligned_depth_target": "left_color",
+          "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+          "offline_recording": false,
+          "input_type": "INPUT_TYPE.USB",
+          "usb": {
+            "video_device_path": "/dev/video2",
+            "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+            "bus": "8",
+            "port_path": "1",
+            "pci_controller_path": "/sys/devices/pci0000:00",
+            "usb_type_descriptor": "3.00",
+            "speed_mbps": 5000.0,
+            "product": "ZED-M",
+            "is_usb3": true,
+            "input_type_raw": "INPUT_TYPE.USB",
+            "usb_validation_source": "linux_sysfs_video_device",
+            "note": null
+          },
+          "usb_type_descriptor": "3.00",
+          "usb_speed_mbps": 5000.0,
+          "usb_product": "ZED-M"
+        }
+      },
+      "stream_summaries": {
+        "zed_12933256_left_rgb": {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 1811,
+          "expected_fps": 15.0,
+          "observed_fps": 15.08251988276099,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792528860925339135,
+          "timestamp_max_ns": 1792528980931811135,
+          "median_gap_ns": 66334500.0,
+          "max_gap_ns": 67346000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 66276000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 1811,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792528861012448486,
+          "host_timestamp_max_ns": 1792528981014418418,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        },
+        "zed_12933256_right_rgb": {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 1811,
+          "expected_fps": 15.0,
+          "observed_fps": 15.08251988276099,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792528860925339135,
+          "timestamp_max_ns": 1792528980931811135,
+          "median_gap_ns": 66334500.0,
+          "max_gap_ns": 67346000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 66276000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 1811,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792528861012448486,
+          "host_timestamp_max_ns": 1792528981014418418,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        },
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 1811,
+          "expected_fps": 15.0,
+          "observed_fps": 15.08251988276099,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792528860925339135,
+          "timestamp_max_ns": 1792528980931811135,
+          "median_gap_ns": 66334500.0,
+          "max_gap_ns": 67346000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 66276000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 1811,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792528861012448486,
+          "host_timestamp_max_ns": 1792528981014418418,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        }
+      }
+    }
+  ],
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 91,
+            "after": 91
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 64,
+            "after": 64
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "stream_preroll": {
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "preroll_elapsed_sec": 0.9934836389998054,
+    "native_recording_starts_after_warmup": true,
+    "native_container_includes_preroll_frames": false,
+    "native_container_includes_post_native_priming_frames": true,
+    "first_official_native_frame_index": 1,
+    "per_camera_preroll_frame_count": {
+      "12933256": 15
+    },
+    "post_native_priming": {
+      "post_native_priming_applied": true,
+      "post_native_priming_elapsed_sec": 0.04224363000002995,
+      "per_camera_discarded_frame_count": {
+        "12933256": 0
+      },
+      "per_camera_post_native_priming_frame_count": {
+        "12933256": 1
+      },
+      "per_camera_first_official_native_frame_index": {
+        "12933256": 1
+      }
+    }
+  },
+  "camera_close_reports": [
+    {
+      "camera_type": "zed",
+      "serial_number": "12933256",
+      "recording_enabled_before_close": true,
+      "recording_enabled_after_disable": false,
+      "read_thread_alive_before_close": false,
+      "read_thread_alive_after_stop": false,
+      "camera_lock_acquired_for_close": true,
+      "sdk_close_attempted": true,
+      "sdk_is_opened_before_close": true,
+      "sdk_is_opened_after_close": false,
+      "sdk_close_retry_count": 0,
+      "sdk_close_exception": null,
+      "close_warning_messages": [],
+      "recording_stop_reason": "duration_sec_limit"
+    }
+  ],
+  "recording_elapsed_sec": 126.69401860237122,
+  "recording_active_elapsed_sec": 120.04761410899982,
+  "recording_timing": {
+    "attempt_elapsed_sec": 126.69401574134827,
+    "official_active_elapsed_sec": 120.04761410899982,
+    "preroll_elapsed_sec": 0.9934836389998054,
+    "wind_down_elapsed_sec": 0.7675713510002424,
+    "recording_started_at_unix_time_ns": 1792528860948239345,
+    "official_started_at_unix_time_ns": 1792528860948239345,
+    "official_stopped_at_unix_time_ns": 1792528980995496782,
+    "stream_preroll": {
+      "stream_warmup_frames": 15,
+      "stream_settle_sec": 0.0,
+      "preroll_elapsed_sec": 0.9934836389998054,
+      "native_recording_starts_after_warmup": true,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "first_official_native_frame_index": 1,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.04224363000002995,
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        }
+      }
+    }
+  },
+  "recording_stop_reason": "duration_sec_limit"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/session.json

@@ -0,0 +1,43 @@
+{
+  "conversion_time": "2026-10-20T20:44:41.521105+00:00",
+  "converter_command": [
+    "/home/shaunak/Code/grasp/belt_perception/.venv/bin/python",
+    "-m",
+    "dataset_converter.convert_session",
+    "--recording-dir",
+    "recordings/20261020_164055_069079",
+    "--output-root",
+    "converted_datasets",
+    "--input-format",
+    "manifest",
+    "--zed-streams",
+    "all",
+    "--depth-encoder",
+    "zdepth",
+    "--calibration-source",
+    "packaged-if-present",
+    "--zdepth-over-max-behavior",
+    "clamp",
+    "--timestamp-gap-policy",
+    "warn",
+    "--timestamp-rate-policy",
+    "warn",
+    "--large-gap-fail-multiplier",
+    "3.5",
+    "--validate"
+  ],
+  "converter_git_commit": "46f912eefa2dce720b79df547085b8bbdb858ad2",
+  "dataset_format_version": "0.1.0",
+  "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers",
+  "pyav_version": "17.0.1",
+  "realsense_sdk_version": "2.58.2",
+  "session_description": "",
+  "session_description_editing_note": "Edit metadata/session_description.md after conversion to update the human-readable session purpose/contents note.",
+  "session_description_path": "metadata/session_description.md",
+  "session_description_source": "editable_template",
+  "session_id": "session_20261020_164055_069079",
+  "source_file_hashes": {
+    "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_164055_069079/ZED-M_SN12933256.svo2": "67757d00a56ed44682e3da0a12a7b879a6146e7f618ead1bf16bd253234198ba"
+  },
+  "zed_sdk_version": "5.5.0"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/session_description.md

@@ -0,0 +1,7 @@
+# Session Description
+
+Purpose:
+
+Data / motion / observations:
+
+Notes:

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/session_manifest.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:218825807c6a43558507758f764c9b2d76efb50440e8b446482da81b7e0996af
+size 7181

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/streams.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d14286852ea3778b86de66f831943015fe84287cdd55d9d3b904a9f30eae013
+size 31584

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/videos.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74bcae04ccfab7f22baeba7164068766f85cb8a4f226c34606bb9ef51213008b
+size 13579

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/metadata/zed_12933256_depth_zed_sdk_neural_plus_zdepth_clamped_report.json

@@ -0,0 +1,1563 @@
+{
+  "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+  "session_id": "session_20261020_164055_069079",
+  "zdepth_max_depth_m": 8.191,
+  "total_frames_with_clamping": 311,
+  "clamped_frames": [
+    {
+      "video_frame_idx": 34,
+      "frame_index": 34,
+      "clamped_pixel_count": 428
+    },
+    {
+      "video_frame_idx": 45,
+      "frame_index": 45,
+      "clamped_pixel_count": 1978
+    },
+    {
+      "video_frame_idx": 46,
+      "frame_index": 46,
+      "clamped_pixel_count": 255
+    },
+    {
+      "video_frame_idx": 50,
+      "frame_index": 50,
+      "clamped_pixel_count": 2668
+    },
+    {
+      "video_frame_idx": 63,
+      "frame_index": 63,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 67,
+      "frame_index": 67,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 69,
+      "frame_index": 69,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 71,
+      "frame_index": 71,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 74,
+      "frame_index": 74,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 75,
+      "frame_index": 75,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 76,
+      "frame_index": 76,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 77,
+      "frame_index": 77,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 82,
+      "frame_index": 82,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 83,
+      "frame_index": 83,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 84,
+      "frame_index": 84,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 88,
+      "frame_index": 88,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 89,
+      "frame_index": 89,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 91,
+      "frame_index": 91,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 93,
+      "frame_index": 93,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 96,
+      "frame_index": 96,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 97,
+      "frame_index": 97,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 98,
+      "frame_index": 98,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 99,
+      "frame_index": 99,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 100,
+      "frame_index": 100,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 101,
+      "frame_index": 101,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 103,
+      "frame_index": 103,
+      "clamped_pixel_count": 129
+    },
+    {
+      "video_frame_idx": 104,
+      "frame_index": 104,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 106,
+      "frame_index": 106,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 107,
+      "frame_index": 107,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 108,
+      "frame_index": 108,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 109,
+      "frame_index": 109,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 110,
+      "frame_index": 110,
+      "clamped_pixel_count": 65
+    },
+    {
+      "video_frame_idx": 111,
+      "frame_index": 111,
+      "clamped_pixel_count": 55
+    },
+    {
+      "video_frame_idx": 112,
+      "frame_index": 112,
+      "clamped_pixel_count": 36
+    },
+    {
+      "video_frame_idx": 113,
+      "frame_index": 113,
+      "clamped_pixel_count": 32
+    },
+    {
+      "video_frame_idx": 114,
+      "frame_index": 114,
+      "clamped_pixel_count": 40
+    },
+    {
+      "video_frame_idx": 115,
+      "frame_index": 115,
+      "clamped_pixel_count": 46
+    },
+    {
+      "video_frame_idx": 116,
+      "frame_index": 116,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 117,
+      "frame_index": 117,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 118,
+      "frame_index": 118,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 119,
+      "frame_index": 119,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 120,
+      "frame_index": 120,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 121,
+      "frame_index": 121,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 122,
+      "frame_index": 122,
+      "clamped_pixel_count": 30
+    },
+    {
+      "video_frame_idx": 123,
+      "frame_index": 123,
+      "clamped_pixel_count": 113
+    },
+    {
+      "video_frame_idx": 124,
+      "frame_index": 124,
+      "clamped_pixel_count": 68
+    },
+    {
+      "video_frame_idx": 125,
+      "frame_index": 125,
+      "clamped_pixel_count": 47
+    },
+    {
+      "video_frame_idx": 126,
+      "frame_index": 126,
+      "clamped_pixel_count": 75
+    },
+    {
+      "video_frame_idx": 127,
+      "frame_index": 127,
+      "clamped_pixel_count": 58
+    },
+    {
+      "video_frame_idx": 128,
+      "frame_index": 128,
+      "clamped_pixel_count": 45
+    },
+    {
+      "video_frame_idx": 129,
+      "frame_index": 129,
+      "clamped_pixel_count": 44
+    },
+    {
+      "video_frame_idx": 130,
+      "frame_index": 130,
+      "clamped_pixel_count": 78
+    },
+    {
+      "video_frame_idx": 131,
+      "frame_index": 131,
+      "clamped_pixel_count": 73
+    },
+    {
+      "video_frame_idx": 132,
+      "frame_index": 132,
+      "clamped_pixel_count": 60
+    },
+    {
+      "video_frame_idx": 133,
+      "frame_index": 133,
+      "clamped_pixel_count": 2112
+    },
+    {
+      "video_frame_idx": 134,
+      "frame_index": 134,
+      "clamped_pixel_count": 2641
+    },
+    {
+      "video_frame_idx": 135,
+      "frame_index": 135,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 136,
+      "frame_index": 136,
+      "clamped_pixel_count": 63
+    },
+    {
+      "video_frame_idx": 137,
+      "frame_index": 137,
+      "clamped_pixel_count": 67
+    },
+    {
+      "video_frame_idx": 138,
+      "frame_index": 138,
+      "clamped_pixel_count": 43
+    },
+    {
+      "video_frame_idx": 139,
+      "frame_index": 139,
+      "clamped_pixel_count": 65
+    },
+    {
+      "video_frame_idx": 140,
+      "frame_index": 140,
+      "clamped_pixel_count": 42
+    },
+    {
+      "video_frame_idx": 141,
+      "frame_index": 141,
+      "clamped_pixel_count": 84
+    },
+    {
+      "video_frame_idx": 142,
+      "frame_index": 142,
+      "clamped_pixel_count": 75
+    },
+    {
+      "video_frame_idx": 143,
+      "frame_index": 143,
+      "clamped_pixel_count": 86
+    },
+    {
+      "video_frame_idx": 144,
+      "frame_index": 144,
+      "clamped_pixel_count": 85
+    },
+    {
+      "video_frame_idx": 145,
+      "frame_index": 145,
+      "clamped_pixel_count": 69
+    },
+    {
+      "video_frame_idx": 146,
+      "frame_index": 146,
+      "clamped_pixel_count": 64
+    },
+    {
+      "video_frame_idx": 147,
+      "frame_index": 147,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 148,
+      "frame_index": 148,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 149,
+      "frame_index": 149,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 150,
+      "frame_index": 150,
+      "clamped_pixel_count": 31
+    },
+    {
+      "video_frame_idx": 151,
+      "frame_index": 151,
+      "clamped_pixel_count": 45
+    },
+    {
+      "video_frame_idx": 152,
+      "frame_index": 152,
+      "clamped_pixel_count": 75
+    },
+    {
+      "video_frame_idx": 153,
+      "frame_index": 153,
+      "clamped_pixel_count": 95
+    },
+    {
+      "video_frame_idx": 154,
+      "frame_index": 154,
+      "clamped_pixel_count": 49
+    },
+    {
+      "video_frame_idx": 155,
+      "frame_index": 155,
+      "clamped_pixel_count": 27
+    },
+    {
+      "video_frame_idx": 156,
+      "frame_index": 156,
+      "clamped_pixel_count": 27
+    },
+    {
+      "video_frame_idx": 157,
+      "frame_index": 157,
+      "clamped_pixel_count": 1650
+    },
+    {
+      "video_frame_idx": 158,
+      "frame_index": 158,
+      "clamped_pixel_count": 1113
+    },
+    {
+      "video_frame_idx": 160,
+      "frame_index": 160,
+      "clamped_pixel_count": 499
+    },
+    {
+      "video_frame_idx": 161,
+      "frame_index": 161,
+      "clamped_pixel_count": 320
+    },
+    {
+      "video_frame_idx": 162,
+      "frame_index": 162,
+      "clamped_pixel_count": 1878
+    },
+    {
+      "video_frame_idx": 163,
+      "frame_index": 163,
+      "clamped_pixel_count": 576
+    },
+    {
+      "video_frame_idx": 164,
+      "frame_index": 164,
+      "clamped_pixel_count": 2060
+    },
+    {
+      "video_frame_idx": 165,
+      "frame_index": 165,
+      "clamped_pixel_count": 655
+    },
+    {
+      "video_frame_idx": 166,
+      "frame_index": 166,
+      "clamped_pixel_count": 107
+    },
+    {
+      "video_frame_idx": 167,
+      "frame_index": 167,
+      "clamped_pixel_count": 611
+    },
+    {
+      "video_frame_idx": 168,
+      "frame_index": 168,
+      "clamped_pixel_count": 362
+    },
+    {
+      "video_frame_idx": 169,
+      "frame_index": 169,
+      "clamped_pixel_count": 2008
+    },
+    {
+      "video_frame_idx": 170,
+      "frame_index": 170,
+      "clamped_pixel_count": 214
+    },
+    {
+      "video_frame_idx": 171,
+      "frame_index": 171,
+      "clamped_pixel_count": 504
+    },
+    {
+      "video_frame_idx": 172,
+      "frame_index": 172,
+      "clamped_pixel_count": 599
+    },
+    {
+      "video_frame_idx": 173,
+      "frame_index": 173,
+      "clamped_pixel_count": 285
+    },
+    {
+      "video_frame_idx": 174,
+      "frame_index": 174,
+      "clamped_pixel_count": 779
+    },
+    {
+      "video_frame_idx": 175,
+      "frame_index": 175,
+      "clamped_pixel_count": 1787
+    },
+    {
+      "video_frame_idx": 176,
+      "frame_index": 176,
+      "clamped_pixel_count": 287
+    },
+    {
+      "video_frame_idx": 177,
+      "frame_index": 177,
+      "clamped_pixel_count": 405
+    },
+    {
+      "video_frame_idx": 178,
+      "frame_index": 178,
+      "clamped_pixel_count": 232
+    },
+    {
+      "video_frame_idx": 179,
+      "frame_index": 179,
+      "clamped_pixel_count": 614
+    },
+    {
+      "video_frame_idx": 180,
+      "frame_index": 180,
+      "clamped_pixel_count": 71
+    },
+    {
+      "video_frame_idx": 181,
+      "frame_index": 181,
+      "clamped_pixel_count": 3654
+    },
+    {
+      "video_frame_idx": 182,
+      "frame_index": 182,
+      "clamped_pixel_count": 4321
+    },
+    {
+      "video_frame_idx": 183,
+      "frame_index": 183,
+      "clamped_pixel_count": 4965
+    },
+    {
+      "video_frame_idx": 184,
+      "frame_index": 184,
+      "clamped_pixel_count": 2121
+    },
+    {
+      "video_frame_idx": 185,
+      "frame_index": 185,
+      "clamped_pixel_count": 4979
+    },
+    {
+      "video_frame_idx": 186,
+      "frame_index": 186,
+      "clamped_pixel_count": 47
+    },
+    {
+      "video_frame_idx": 187,
+      "frame_index": 187,
+      "clamped_pixel_count": 483
+    },
+    {
+      "video_frame_idx": 188,
+      "frame_index": 188,
+      "clamped_pixel_count": 473
+    },
+    {
+      "video_frame_idx": 190,
+      "frame_index": 190,
+      "clamped_pixel_count": 3974
+    },
+    {
+      "video_frame_idx": 191,
+      "frame_index": 191,
+      "clamped_pixel_count": 481
+    },
+    {
+      "video_frame_idx": 192,
+      "frame_index": 192,
+      "clamped_pixel_count": 497
+    },
+    {
+      "video_frame_idx": 193,
+      "frame_index": 193,
+      "clamped_pixel_count": 2318
+    },
+    {
+      "video_frame_idx": 194,
+      "frame_index": 194,
+      "clamped_pixel_count": 3226
+    },
+    {
+      "video_frame_idx": 195,
+      "frame_index": 195,
+      "clamped_pixel_count": 2962
+    },
+    {
+      "video_frame_idx": 196,
+      "frame_index": 196,
+      "clamped_pixel_count": 3668
+    },
+    {
+      "video_frame_idx": 197,
+      "frame_index": 197,
+      "clamped_pixel_count": 1290
+    },
+    {
+      "video_frame_idx": 198,
+      "frame_index": 198,
+      "clamped_pixel_count": 4637
+    },
+    {
+      "video_frame_idx": 199,
+      "frame_index": 199,
+      "clamped_pixel_count": 4634
+    },
+    {
+      "video_frame_idx": 200,
+      "frame_index": 200,
+      "clamped_pixel_count": 3384
+    },
+    {
+      "video_frame_idx": 201,
+      "frame_index": 201,
+      "clamped_pixel_count": 171
+    },
+    {
+      "video_frame_idx": 203,
+      "frame_index": 203,
+      "clamped_pixel_count": 4398
+    },
+    {
+      "video_frame_idx": 204,
+      "frame_index": 204,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 206,
+      "frame_index": 206,
+      "clamped_pixel_count": 3939
+    },
+    {
+      "video_frame_idx": 207,
+      "frame_index": 207,
+      "clamped_pixel_count": 30
+    },
+    {
+      "video_frame_idx": 208,
+      "frame_index": 208,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 209,
+      "frame_index": 209,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 210,
+      "frame_index": 210,
+      "clamped_pixel_count": 53
+    },
+    {
+      "video_frame_idx": 211,
+      "frame_index": 211,
+      "clamped_pixel_count": 6128
+    },
+    {
+      "video_frame_idx": 212,
+      "frame_index": 212,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 213,
+      "frame_index": 213,
+      "clamped_pixel_count": 1426
+    },
+    {
+      "video_frame_idx": 214,
+      "frame_index": 214,
+      "clamped_pixel_count": 1108
+    },
+    {
+      "video_frame_idx": 215,
+      "frame_index": 215,
+      "clamped_pixel_count": 4676
+    },
+    {
+      "video_frame_idx": 216,
+      "frame_index": 216,
+      "clamped_pixel_count": 1501
+    },
+    {
+      "video_frame_idx": 217,
+      "frame_index": 217,
+      "clamped_pixel_count": 5228
+    },
+    {
+      "video_frame_idx": 218,
+      "frame_index": 218,
+      "clamped_pixel_count": 4750
+    },
+    {
+      "video_frame_idx": 219,
+      "frame_index": 219,
+      "clamped_pixel_count": 5247
+    },
+    {
+      "video_frame_idx": 220,
+      "frame_index": 220,
+      "clamped_pixel_count": 6401
+    },
+    {
+      "video_frame_idx": 221,
+      "frame_index": 221,
+      "clamped_pixel_count": 4495
+    },
+    {
+      "video_frame_idx": 222,
+      "frame_index": 222,
+      "clamped_pixel_count": 4014
+    },
+    {
+      "video_frame_idx": 223,
+      "frame_index": 223,
+      "clamped_pixel_count": 3098
+    },
+    {
+      "video_frame_idx": 224,
+      "frame_index": 224,
+      "clamped_pixel_count": 4986
+    },
+    {
+      "video_frame_idx": 225,
+      "frame_index": 225,
+      "clamped_pixel_count": 7037
+    },
+    {
+      "video_frame_idx": 226,
+      "frame_index": 226,
+      "clamped_pixel_count": 6442
+    },
+    {
+      "video_frame_idx": 227,
+      "frame_index": 227,
+      "clamped_pixel_count": 423
+    },
+    {
+      "video_frame_idx": 228,
+      "frame_index": 228,
+      "clamped_pixel_count": 569
+    },
+    {
+      "video_frame_idx": 229,
+      "frame_index": 229,
+      "clamped_pixel_count": 619
+    },
+    {
+      "video_frame_idx": 230,
+      "frame_index": 230,
+      "clamped_pixel_count": 3687
+    },
+    {
+      "video_frame_idx": 231,
+      "frame_index": 231,
+      "clamped_pixel_count": 2306
+    },
+    {
+      "video_frame_idx": 232,
+      "frame_index": 232,
+      "clamped_pixel_count": 2739
+    },
+    {
+      "video_frame_idx": 233,
+      "frame_index": 233,
+      "clamped_pixel_count": 7377
+    },
+    {
+      "video_frame_idx": 234,
+      "frame_index": 234,
+      "clamped_pixel_count": 751
+    },
+    {
+      "video_frame_idx": 235,
+      "frame_index": 235,
+      "clamped_pixel_count": 224
+    },
+    {
+      "video_frame_idx": 236,
+      "frame_index": 236,
+      "clamped_pixel_count": 1399
+    },
+    {
+      "video_frame_idx": 237,
+      "frame_index": 237,
+      "clamped_pixel_count": 5817
+    },
+    {
+      "video_frame_idx": 238,
+      "frame_index": 238,
+      "clamped_pixel_count": 965
+    },
+    {
+      "video_frame_idx": 239,
+      "frame_index": 239,
+      "clamped_pixel_count": 1055
+    },
+    {
+      "video_frame_idx": 240,
+      "frame_index": 240,
+      "clamped_pixel_count": 1725
+    },
+    {
+      "video_frame_idx": 241,
+      "frame_index": 241,
+      "clamped_pixel_count": 2506
+    },
+    {
+      "video_frame_idx": 242,
+      "frame_index": 242,
+      "clamped_pixel_count": 1072
+    },
+    {
+      "video_frame_idx": 243,
+      "frame_index": 243,
+      "clamped_pixel_count": 3692
+    },
+    {
+      "video_frame_idx": 244,
+      "frame_index": 244,
+      "clamped_pixel_count": 1477
+    },
+    {
+      "video_frame_idx": 245,
+      "frame_index": 245,
+      "clamped_pixel_count": 1845
+    },
+    {
+      "video_frame_idx": 246,
+      "frame_index": 246,
+      "clamped_pixel_count": 1825
+    },
+    {
+      "video_frame_idx": 247,
+      "frame_index": 247,
+      "clamped_pixel_count": 912
+    },
+    {
+      "video_frame_idx": 248,
+      "frame_index": 248,
+      "clamped_pixel_count": 1913
+    },
+    {
+      "video_frame_idx": 249,
+      "frame_index": 249,
+      "clamped_pixel_count": 6240
+    },
+    {
+      "video_frame_idx": 250,
+      "frame_index": 250,
+      "clamped_pixel_count": 917
+    },
+    {
+      "video_frame_idx": 252,
+      "frame_index": 252,
+      "clamped_pixel_count": 405
+    },
+    {
+      "video_frame_idx": 253,
+      "frame_index": 253,
+      "clamped_pixel_count": 3173
+    },
+    {
+      "video_frame_idx": 254,
+      "frame_index": 254,
+      "clamped_pixel_count": 3224
+    },
+    {
+      "video_frame_idx": 255,
+      "frame_index": 255,
+      "clamped_pixel_count": 6341
+    },
+    {
+      "video_frame_idx": 256,
+      "frame_index": 256,
+      "clamped_pixel_count": 6527
+    },
+    {
+      "video_frame_idx": 257,
+      "frame_index": 257,
+      "clamped_pixel_count": 9126
+    },
+    {
+      "video_frame_idx": 258,
+      "frame_index": 258,
+      "clamped_pixel_count": 15410
+    },
+    {
+      "video_frame_idx": 259,
+      "frame_index": 259,
+      "clamped_pixel_count": 12596
+    },
+    {
+      "video_frame_idx": 260,
+      "frame_index": 260,
+      "clamped_pixel_count": 16008
+    },
+    {
+      "video_frame_idx": 261,
+      "frame_index": 261,
+      "clamped_pixel_count": 8939
+    },
+    {
+      "video_frame_idx": 262,
+      "frame_index": 262,
+      "clamped_pixel_count": 5731
+    },
+    {
+      "video_frame_idx": 263,
+      "frame_index": 263,
+      "clamped_pixel_count": 5941
+    },
+    {
+      "video_frame_idx": 264,
+      "frame_index": 264,
+      "clamped_pixel_count": 8480
+    },
+    {
+      "video_frame_idx": 265,
+      "frame_index": 265,
+      "clamped_pixel_count": 2898
+    },
+    {
+      "video_frame_idx": 266,
+      "frame_index": 266,
+      "clamped_pixel_count": 3399
+    },
+    {
+      "video_frame_idx": 267,
+      "frame_index": 267,
+      "clamped_pixel_count": 2720
+    },
+    {
+      "video_frame_idx": 268,
+      "frame_index": 268,
+      "clamped_pixel_count": 8813
+    },
+    {
+      "video_frame_idx": 269,
+      "frame_index": 269,
+      "clamped_pixel_count": 2089
+    },
+    {
+      "video_frame_idx": 270,
+      "frame_index": 270,
+      "clamped_pixel_count": 2214
+    },
+    {
+      "video_frame_idx": 271,
+      "frame_index": 271,
+      "clamped_pixel_count": 5092
+    },
+    {
+      "video_frame_idx": 272,
+      "frame_index": 272,
+      "clamped_pixel_count": 2022
+    },
+    {
+      "video_frame_idx": 273,
+      "frame_index": 273,
+      "clamped_pixel_count": 1409
+    },
+    {
+      "video_frame_idx": 274,
+      "frame_index": 274,
+      "clamped_pixel_count": 2646
+    },
+    {
+      "video_frame_idx": 275,
+      "frame_index": 275,
+      "clamped_pixel_count": 2227
+    },
+    {
+      "video_frame_idx": 276,
+      "frame_index": 276,
+      "clamped_pixel_count": 2388
+    },
+    {
+      "video_frame_idx": 277,
+      "frame_index": 277,
+      "clamped_pixel_count": 4563
+    },
+    {
+      "video_frame_idx": 278,
+      "frame_index": 278,
+      "clamped_pixel_count": 3801
+    },
+    {
+      "video_frame_idx": 279,
+      "frame_index": 279,
+      "clamped_pixel_count": 3687
+    },
+    {
+      "video_frame_idx": 280,
+      "frame_index": 280,
+      "clamped_pixel_count": 1771
+    },
+    {
+      "video_frame_idx": 281,
+      "frame_index": 281,
+      "clamped_pixel_count": 2897
+    },
+    {
+      "video_frame_idx": 282,
+      "frame_index": 282,
+      "clamped_pixel_count": 986
+    },
+    {
+      "video_frame_idx": 283,
+      "frame_index": 283,
+      "clamped_pixel_count": 860
+    },
+    {
+      "video_frame_idx": 284,
+      "frame_index": 284,
+      "clamped_pixel_count": 577
+    },
+    {
+      "video_frame_idx": 285,
+      "frame_index": 285,
+      "clamped_pixel_count": 1302
+    },
+    {
+      "video_frame_idx": 286,
+      "frame_index": 286,
+      "clamped_pixel_count": 3184
+    },
+    {
+      "video_frame_idx": 287,
+      "frame_index": 287,
+      "clamped_pixel_count": 4494
+    },
+    {
+      "video_frame_idx": 288,
+      "frame_index": 288,
+      "clamped_pixel_count": 6022
+    },
+    {
+      "video_frame_idx": 289,
+      "frame_index": 289,
+      "clamped_pixel_count": 4002
+    },
+    {
+      "video_frame_idx": 290,
+      "frame_index": 290,
+      "clamped_pixel_count": 3843
+    },
+    {
+      "video_frame_idx": 291,
+      "frame_index": 291,
+      "clamped_pixel_count": 2534
+    },
+    {
+      "video_frame_idx": 292,
+      "frame_index": 292,
+      "clamped_pixel_count": 2121
+    },
+    {
+      "video_frame_idx": 293,
+      "frame_index": 293,
+      "clamped_pixel_count": 1042
+    },
+    {
+      "video_frame_idx": 294,
+      "frame_index": 294,
+      "clamped_pixel_count": 3203
+    },
+    {
+      "video_frame_idx": 295,
+      "frame_index": 295,
+      "clamped_pixel_count": 2143
+    },
+    {
+      "video_frame_idx": 296,
+      "frame_index": 296,
+      "clamped_pixel_count": 3791
+    },
+    {
+      "video_frame_idx": 297,
+      "frame_index": 297,
+      "clamped_pixel_count": 1742
+    },
+    {
+      "video_frame_idx": 298,
+      "frame_index": 298,
+      "clamped_pixel_count": 1529
+    },
+    {
+      "video_frame_idx": 299,
+      "frame_index": 299,
+      "clamped_pixel_count": 706
+    },
+    {
+      "video_frame_idx": 300,
+      "frame_index": 300,
+      "clamped_pixel_count": 2759
+    },
+    {
+      "video_frame_idx": 301,
+      "frame_index": 301,
+      "clamped_pixel_count": 1935
+    },
+    {
+      "video_frame_idx": 302,
+      "frame_index": 302,
+      "clamped_pixel_count": 2553
+    },
+    {
+      "video_frame_idx": 303,
+      "frame_index": 303,
+      "clamped_pixel_count": 1072
+    },
+    {
+      "video_frame_idx": 304,
+      "frame_index": 304,
+      "clamped_pixel_count": 675
+    },
+    {
+      "video_frame_idx": 305,
+      "frame_index": 305,
+      "clamped_pixel_count": 119
+    },
+    {
+      "video_frame_idx": 306,
+      "frame_index": 306,
+      "clamped_pixel_count": 96
+    },
+    {
+      "video_frame_idx": 307,
+      "frame_index": 307,
+      "clamped_pixel_count": 1130
+    },
+    {
+      "video_frame_idx": 308,
+      "frame_index": 308,
+      "clamped_pixel_count": 1354
+    },
+    {
+      "video_frame_idx": 309,
+      "frame_index": 309,
+      "clamped_pixel_count": 1876
+    },
+    {
+      "video_frame_idx": 310,
+      "frame_index": 310,
+      "clamped_pixel_count": 2848
+    },
+    {
+      "video_frame_idx": 311,
+      "frame_index": 311,
+      "clamped_pixel_count": 1597
+    },
+    {
+      "video_frame_idx": 312,
+      "frame_index": 312,
+      "clamped_pixel_count": 3690
+    },
+    {
+      "video_frame_idx": 313,
+      "frame_index": 313,
+      "clamped_pixel_count": 773
+    },
+    {
+      "video_frame_idx": 314,
+      "frame_index": 314,
+      "clamped_pixel_count": 445
+    },
+    {
+      "video_frame_idx": 315,
+      "frame_index": 315,
+      "clamped_pixel_count": 407
+    },
+    {
+      "video_frame_idx": 316,
+      "frame_index": 316,
+      "clamped_pixel_count": 420
+    },
+    {
+      "video_frame_idx": 317,
+      "frame_index": 317,
+      "clamped_pixel_count": 2124
+    },
+    {
+      "video_frame_idx": 318,
+      "frame_index": 318,
+      "clamped_pixel_count": 734
+    },
+    {
+      "video_frame_idx": 319,
+      "frame_index": 319,
+      "clamped_pixel_count": 5636
+    },
+    {
+      "video_frame_idx": 320,
+      "frame_index": 320,
+      "clamped_pixel_count": 124
+    },
+    {
+      "video_frame_idx": 321,
+      "frame_index": 321,
+      "clamped_pixel_count": 1624
+    },
+    {
+      "video_frame_idx": 322,
+      "frame_index": 322,
+      "clamped_pixel_count": 5124
+    },
+    {
+      "video_frame_idx": 323,
+      "frame_index": 323,
+      "clamped_pixel_count": 6828
+    },
+    {
+      "video_frame_idx": 324,
+      "frame_index": 324,
+      "clamped_pixel_count": 121
+    },
+    {
+      "video_frame_idx": 325,
+      "frame_index": 325,
+      "clamped_pixel_count": 699
+    },
+    {
+      "video_frame_idx": 326,
+      "frame_index": 326,
+      "clamped_pixel_count": 128
+    },
+    {
+      "video_frame_idx": 327,
+      "frame_index": 327,
+      "clamped_pixel_count": 429
+    },
+    {
+      "video_frame_idx": 328,
+      "frame_index": 328,
+      "clamped_pixel_count": 28
+    },
+    {
+      "video_frame_idx": 330,
+      "frame_index": 330,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 331,
+      "frame_index": 331,
+      "clamped_pixel_count": 68
+    },
+    {
+      "video_frame_idx": 332,
+      "frame_index": 332,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 333,
+      "frame_index": 333,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 338,
+      "frame_index": 338,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 452,
+      "frame_index": 452,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 937,
+      "frame_index": 937,
+      "clamped_pixel_count": 1954
+    },
+    {
+      "video_frame_idx": 945,
+      "frame_index": 945,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 989,
+      "frame_index": 989,
+      "clamped_pixel_count": 6954
+    },
+    {
+      "video_frame_idx": 990,
+      "frame_index": 990,
+      "clamped_pixel_count": 848
+    },
+    {
+      "video_frame_idx": 991,
+      "frame_index": 991,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 992,
+      "frame_index": 992,
+      "clamped_pixel_count": 3813
+    },
+    {
+      "video_frame_idx": 995,
+      "frame_index": 995,
+      "clamped_pixel_count": 12430
+    },
+    {
+      "video_frame_idx": 999,
+      "frame_index": 999,
+      "clamped_pixel_count": 11006
+    },
+    {
+      "video_frame_idx": 1038,
+      "frame_index": 1038,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1039,
+      "frame_index": 1039,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1041,
+      "frame_index": 1041,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1042,
+      "frame_index": 1042,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1043,
+      "frame_index": 1043,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1044,
+      "frame_index": 1044,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1045,
+      "frame_index": 1045,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1046,
+      "frame_index": 1046,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1047,
+      "frame_index": 1047,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1048,
+      "frame_index": 1048,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 1049,
+      "frame_index": 1049,
+      "clamped_pixel_count": 14
+    },
+    {
+      "video_frame_idx": 1050,
+      "frame_index": 1050,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1051,
+      "frame_index": 1051,
+      "clamped_pixel_count": 14
+    },
+    {
+      "video_frame_idx": 1052,
+      "frame_index": 1052,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 1053,
+      "frame_index": 1053,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 1054,
+      "frame_index": 1054,
+      "clamped_pixel_count": 14
+    },
+    {
+      "video_frame_idx": 1055,
+      "frame_index": 1055,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 1056,
+      "frame_index": 1056,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 1057,
+      "frame_index": 1057,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 1058,
+      "frame_index": 1058,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 1059,
+      "frame_index": 1059,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 1060,
+      "frame_index": 1060,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1061,
+      "frame_index": 1061,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 1062,
+      "frame_index": 1062,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1063,
+      "frame_index": 1063,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 1064,
+      "frame_index": 1064,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 1065,
+      "frame_index": 1065,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 1066,
+      "frame_index": 1066,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1067,
+      "frame_index": 1067,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 1068,
+      "frame_index": 1068,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1069,
+      "frame_index": 1069,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1070,
+      "frame_index": 1070,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1071,
+      "frame_index": 1071,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1073,
+      "frame_index": 1073,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1080,
+      "frame_index": 1080,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1107,
+      "frame_index": 1107,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1152,
+      "frame_index": 1152,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1218,
+      "frame_index": 1218,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1219,
+      "frame_index": 1219,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 1234,
+      "frame_index": 1234,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1242,
+      "frame_index": 1242,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1245,
+      "frame_index": 1245,
+      "clamped_pixel_count": 39
+    },
+    {
+      "video_frame_idx": 1246,
+      "frame_index": 1246,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1247,
+      "frame_index": 1247,
+      "clamped_pixel_count": 34
+    },
+    {
+      "video_frame_idx": 1251,
+      "frame_index": 1251,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1252,
+      "frame_index": 1252,
+      "clamped_pixel_count": 41
+    },
+    {
+      "video_frame_idx": 1253,
+      "frame_index": 1253,
+      "clamped_pixel_count": 147
+    },
+    {
+      "video_frame_idx": 1254,
+      "frame_index": 1254,
+      "clamped_pixel_count": 186
+    },
+    {
+      "video_frame_idx": 1255,
+      "frame_index": 1255,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1265,
+      "frame_index": 1265,
+      "clamped_pixel_count": 32
+    },
+    {
+      "video_frame_idx": 1278,
+      "frame_index": 1278,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1776,
+      "frame_index": 1776,
+      "clamped_pixel_count": 3
+    }
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/tables/events.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72b67331fa1d51ad28b0e96e099b33380600277d663243799431588ae8b1ba9
+size 1177

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/tables/frames.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce8cc7b4095b79be3bf801788286eda86ceb033ae08ec028be7e90dee82b89d
+size 2933105

scans/orange_pulley_oct20/converted/sessions/session_20261020_164055_069079/tables/robot_states.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e159471ba1a5f4884d948bcd5682df27a26d6611619788277d19bd843903f1
+size 6072

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/calibration.json

@@ -0,0 +1,777 @@
+{
+  "camera_frame_conventions": {
+    "zed_12933256_depth_zed_sdk_neural_plus": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_left_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_right_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
+  },
+  "camera_intrinsics": {
+    "zed_12933256_depth_zed_sdk_neural_plus": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.29052734375,
+        "cy": 609.0015258789062,
+        "fx": 1462.8087158203125,
+        "fy": 1462.8087158203125
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.29052734375,
+        "cy": 609.0015258789062,
+        "fx": 1462.8087158203125,
+        "fy": 1462.8087158203125
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_left_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.29052734375,
+        "cy": 609.0015258789062,
+        "fx": 1462.8087158203125,
+        "fy": 1462.8087158203125
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.29052734375,
+        "cy": 609.0015258789062,
+        "fx": 1462.8087158203125,
+        "fy": 1462.8087158203125
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12933256_right_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+          "source": "zed_sdk:svo2:stereo_transform_inverse",
+          "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+          "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+          "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12933256_left_rgb",
+            "zed_12933256_right_rgb",
+            "zed_12933256_depth_zed_sdk_neural_plus"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12933256_left_rgb_camera",
+      "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+      "depth_mode": null,
+      "depth_scale": 1.0,
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        2208,
+        1242
+      ],
+      "left": {
+        "cx": 1172.29052734375,
+        "cy": 609.0015258789062,
+        "fx": 1462.8087158203125,
+        "fy": 1462.8087158203125
+      },
+      "left_camera_frame": "zed_12933256_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "optical_frames": {
+        "zed_12933256_left_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "depth",
+          "same_as_left_rgb": true,
+          "sensor_type": "zed"
+        },
+        "zed_12933256_right_rgb_camera": {
+          "device_serial": "12933256",
+          "role": "right_rgb",
+          "sensor_type": "zed"
+        }
+      },
+      "right": {
+        "cx": 1172.29052734375,
+        "cy": 609.0015258789062,
+        "fx": 1462.8087158203125,
+        "fy": 1462.8087158203125
+      },
+      "right_camera_frame": "zed_12933256_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "sensor_type": "zed",
+      "source_serial": "12933256",
+      "stereo_baseline_m": 0.06304030865430832,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    }
+  },
+  "coordinate_frame_names": {
+    "calib_board": "calibration board frame",
+    "camera": "camera optical frame for the associated stream",
+    "panda_link0": "Franka base link frame when available",
+    "world": "workspace/world frame when available",
+    "zed_12933256_left_rgb_camera": "zed optical frame (depth)",
+    "zed_12933256_right_rgb_camera": "zed optical frame (right_rgb)"
+  },
+  "depth_scale": {
+    "zed_12933256_depth_zed_sdk_neural_plus": 1.0,
+    "zed_12933256_left_rgb": 1.0,
+    "zed_12933256_right_rgb": 1.0
+  },
+  "distortion_coefficients": {
+    "zed_12933256_depth_zed_sdk_neural_plus": null,
+    "zed_12933256_left_rgb": null,
+    "zed_12933256_right_rgb": null
+  },
+  "distortion_model": {
+    "zed_12933256_depth_zed_sdk_neural_plus": "zed_sdk",
+    "zed_12933256_left_rgb": "zed_sdk",
+    "zed_12933256_right_rgb": "zed_sdk"
+  },
+  "franka_calibration": null,
+  "intrinsics_resolution": {
+    "zed_12933256_depth_zed_sdk_neural_plus": [
+      2208,
+      1242
+    ],
+    "zed_12933256_left_rgb": [
+      2208,
+      1242
+    ],
+    "zed_12933256_right_rgb": [
+      2208,
+      1242
+    ]
+  },
+  "matrix_storage_order": "row_major",
+  "optical_frames": {
+    "zed_12933256_left_rgb_camera": {
+      "device_serial": "12933256",
+      "role": "depth",
+      "same_as_left_rgb": true,
+      "sensor_type": "zed"
+    },
+    "zed_12933256_right_rgb_camera": {
+      "device_serial": "12933256",
+      "role": "right_rgb",
+      "sensor_type": "zed"
+    }
+  },
+  "packaged_calibration": {
+    "converted_relative_package_dir": null,
+    "manifest": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "recording_relative_source_dir": "calibration",
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ]
+  },
+  "source_file_hashes": {},
+  "stereo_baseline_m": {
+    "zed_12933256_depth_zed_sdk_neural_plus": 0.06304030865430832,
+    "zed_12933256_left_rgb": 0.06304030865430832,
+    "zed_12933256_right_rgb": 0.06304030865430832
+  },
+  "stereo_baseline_units": "meters",
+  "stream_frame_assignment": {
+    "zed_12933256_depth_zed_sdk_neural_plus": "zed_12933256_left_rgb_camera",
+    "zed_12933256_left_rgb": "zed_12933256_left_rgb_camera",
+    "zed_12933256_right_rgb": "zed_12933256_right_rgb_camera"
+  },
+  "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+  "transforms": [
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12933256_left_rgb_camera_T_zed_12933256_right_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform",
+      "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_left_rgb_camera = T * p_zed_12933256_right_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    },
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.06304030865430832
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12933256_right_rgb_camera_T_zed_12933256_left_rgb_camera",
+      "source": "zed_sdk:svo2:stereo_transform_inverse",
+      "source_file": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+      "source_file_sha256": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608",
+      "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+      "transform_direction": "p_zed_12933256_right_rgb_camera = T * p_zed_12933256_left_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12933256_left_rgb",
+        "zed_12933256_right_rgb",
+        "zed_12933256_depth_zed_sdk_neural_plus"
+      ]
+    }
+  ],
+  "units": {
+    "depth": "stream-specific, see per-stream depth_scale",
+    "rotation": "unitless",
+    "translation": "meters"
+  },
+  "valid_stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/camera_settings_propagation.json

@@ -0,0 +1,5 @@
+{
+  "artifact_relpaths": [],
+  "status": "missing",
+  "summary": null
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/conversion_plan.json

@@ -0,0 +1,778 @@
+{
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "transforms_index_path": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ],
+    "world_T_camera_bundle_path": null
+  },
+  "camera_settings": {
+    "artifact_paths": {},
+    "status": "missing",
+    "summary": null
+  },
+  "depth_encoder": "zdepth",
+  "recording_dir": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718",
+  "recording_manifest_path": "recording_manifest.json",
+  "recording_metadata_path": "recording_metadata.json",
+  "streams": [
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": null,
+      "first_official_native_frame_index": 1,
+      "modality": "left_rgb",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 2714,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 2714,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_left_rgb",
+      "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 2,
+        "large_gap_count_total": 2,
+        "max_device_gap_ns": 132890000,
+        "max_gap_ns_total": 132890000,
+        "max_host_gap_ns": 132957060,
+        "max_non_startup_gap_ns": 132890000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 2,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "row_count": 2714,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": false,
+        "validation_decision": "passed_with_warnings",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+          "max_within_stream_inter_frame_gap_ns": 132890000,
+          "median_period_error_ratio": 0.004900004975499975,
+          "median_within_stream_inter_frame_period_ns": 66340000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.070908290201121,
+          "observed_fps_ratio": 1.0047272193467414,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 2713,
+          "within_stream_large_gap_count": 2,
+          "within_stream_large_gap_rate": 0.0007371913011426465
+        },
+        "validation_reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+      "zed_depth_mode": null
+    },
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": null,
+      "first_official_native_frame_index": 1,
+      "modality": "right_rgb",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 2714,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 2714,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_right_rgb",
+      "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 2,
+        "large_gap_count_total": 2,
+        "max_device_gap_ns": 132890000,
+        "max_gap_ns_total": 132890000,
+        "max_host_gap_ns": 132957060,
+        "max_non_startup_gap_ns": 132890000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 2,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "row_count": 2714,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": false,
+        "validation_decision": "passed_with_warnings",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+          "max_within_stream_inter_frame_gap_ns": 132890000,
+          "median_period_error_ratio": 0.004900004975499975,
+          "median_within_stream_inter_frame_period_ns": 66340000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.070908290201121,
+          "observed_fps_ratio": 1.0047272193467414,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 2713,
+          "within_stream_large_gap_count": 2,
+          "within_stream_large_gap_rate": 0.0007371913011426465
+        },
+        "validation_reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+      "zed_depth_mode": null
+    },
+    {
+      "actual_profile": {
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 15.0,
+        "image_format": "rgb8",
+        "requested_fps": 15.0,
+        "resolution": [
+          1242,
+          2208
+        ],
+        "stream_profile_name": "HD2K",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_type": "zed",
+      "depth_encoder": "zdepth",
+      "first_official_native_frame_index": 1,
+      "modality": "depth",
+      "native_frame_mapping": {
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 2714,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12933256",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 15,
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd2k"
+      },
+      "row_count": 2714,
+      "serial_number": "12933256",
+      "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 15.0,
+        "gap_fail_threshold_ns": 233333334,
+        "large_gap_count": 2,
+        "large_gap_count_total": 2,
+        "max_device_gap_ns": 132890000,
+        "max_gap_ns_total": 132890000,
+        "max_host_gap_ns": 132957060,
+        "max_non_startup_gap_ns": 132890000,
+        "nominal_frame_period_ns": 66666667,
+        "non_startup_large_gap_count": 2,
+        "recorder_gap_report": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "row_count": 2714,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": false,
+        "validation_decision": "passed_with_warnings",
+        "validation_metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+          "max_within_stream_inter_frame_gap_ns": 132890000,
+          "median_period_error_ratio": 0.004900004975499975,
+          "median_within_stream_inter_frame_period_ns": 66340000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.070908290201121,
+          "observed_fps_ratio": 1.0047272193467414,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 2713,
+          "within_stream_large_gap_count": 2,
+          "within_stream_large_gap_rate": 0.0007371913011426465
+        },
+        "validation_reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "zed_depth_mode": "NEURAL_PLUS"
+    }
+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.005,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.005,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+            "max_within_stream_inter_frame_gap_ns": 132890000,
+            "median_period_error_ratio": 0.004900004975499975,
+            "median_within_stream_inter_frame_period_ns": 66340000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.070908290201121,
+            "observed_fps_ratio": 1.0047272193467414,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 602,
+                  "gap_ns": 132442000,
+                  "to_row": 603
+                },
+                {
+                  "from_row": 2235,
+                  "gap_ns": 132890000,
+                  "to_row": 2236
+                }
+              ],
+              "max_gap_ns": 132890000,
+              "median_gap_ns": 66340000.0,
+              "observed_fps": 15.070908290201121,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 2713,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.0007371913011426465
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+            "max_within_stream_inter_frame_gap_ns": 132890000,
+            "median_period_error_ratio": 0.004900004975499975,
+            "median_within_stream_inter_frame_period_ns": 66340000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.070908290201121,
+            "observed_fps_ratio": 1.0047272193467414,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 602,
+                  "gap_ns": 132442000,
+                  "to_row": 603
+                },
+                {
+                  "from_row": 2235,
+                  "gap_ns": 132890000,
+                  "to_row": 2236
+                }
+              ],
+              "max_gap_ns": 132890000,
+              "median_gap_ns": 66340000.0,
+              "observed_fps": 15.070908290201121,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 2713,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.0007371913011426465
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+            "max_within_stream_inter_frame_gap_ns": 132890000,
+            "median_period_error_ratio": 0.004900004975499975,
+            "median_within_stream_inter_frame_period_ns": 66340000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.070908290201121,
+            "observed_fps_ratio": 1.0047272193467414,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 602,
+                  "gap_ns": 132442000,
+                  "to_row": 603
+                },
+                {
+                  "from_row": 2235,
+                  "gap_ns": 132890000,
+                  "to_row": 2236
+                }
+              ],
+              "max_gap_ns": 132890000,
+              "median_gap_ns": 66340000.0,
+              "observed_fps": 15.070908290201121,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 2713,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.0007371913011426465
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        }
+      }
+    }
+  }
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/conversion_plan_validation_report.json

@@ -0,0 +1,697 @@
+{
+  "authoritative_timestamps": "streams/<stream_id>/timestamps.parquet",
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": null,
+    "missing_recording_serials": [
+      "12933256"
+    ],
+    "packaged_camera_serials": [],
+    "recording_camera_serials": [
+      "12933256"
+    ],
+    "source": "packaged-if-present",
+    "status": "missing",
+    "transforms_index": null,
+    "transforms_index_path": null,
+    "warnings": [
+      "No packaged calibration directory was found."
+    ],
+    "world_T_camera_bundle_path": null
+  },
+  "camera_settings": {
+    "artifact_paths": {},
+    "status": "missing",
+    "summary": null
+  },
+  "container_pts_for_synchronization": false,
+  "recording_timestamp_gap_warnings": {
+    "status": "passed_with_warnings",
+    "streams": {
+      "zed_12933256_depth_zed_sdk_neural_plus": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      },
+      "zed_12933256_left_rgb": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed_with_warnings",
+        "plan_warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      }
+    },
+    "timestamp_gap_policy": "warn"
+  },
+  "status": "passed_with_warnings",
+  "stream_count": 3,
+  "stream_ids": [
+    "zed_12933256_left_rgb",
+    "zed_12933256_right_rgb",
+    "zed_12933256_depth_zed_sdk_neural_plus"
+  ],
+  "timestamp_policy": {
+    "authoritative_timing_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "large_gap_fail_multiplier": 3.5,
+    "max_large_gap_rate": 0.005,
+    "native_frame_mapping": "native_container_frame_index = first_official_native_frame_index + official_frame_index",
+    "recording_timestamp_gap_warnings": {
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "plan_warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        }
+      },
+      "timestamp_gap_policy": "warn"
+    },
+    "timestamp_gap_policy": "warn",
+    "timestamp_rate_policy": "warn",
+    "within_stream_inter_frame_timestamp_validation": {
+      "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+      "policy": {
+        "fail_on_duplicate_timestamps": true,
+        "fail_on_missing_timestamps": true,
+        "fail_on_non_monotonic_timestamps": true,
+        "gap_policy": "warn",
+        "large_gap_warning_multiplier": 1.5,
+        "max_gap_fail_multiplier": 3.5,
+        "max_large_gap_count": null,
+        "max_large_gap_rate": 0.005,
+        "median_period_tolerance_ratio": 0.05,
+        "min_observed_fps_ratio": 0.98,
+        "rate_policy": "warn"
+      },
+      "scope": "within_stream_inter_frame_timestamp_validation",
+      "status": "passed_with_warnings",
+      "streams": {
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+            "max_within_stream_inter_frame_gap_ns": 132890000,
+            "median_period_error_ratio": 0.004900004975499975,
+            "median_within_stream_inter_frame_period_ns": 66340000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.070908290201121,
+            "observed_fps_ratio": 1.0047272193467414,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 602,
+                  "gap_ns": 132442000,
+                  "to_row": 603
+                },
+                {
+                  "from_row": 2235,
+                  "gap_ns": 132890000,
+                  "to_row": 2236
+                }
+              ],
+              "max_gap_ns": 132890000,
+              "median_gap_ns": 66340000.0,
+              "observed_fps": 15.070908290201121,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 2713,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.0007371913011426465
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_left_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+            "max_within_stream_inter_frame_gap_ns": 132890000,
+            "median_period_error_ratio": 0.004900004975499975,
+            "median_within_stream_inter_frame_period_ns": 66340000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.070908290201121,
+            "observed_fps_ratio": 1.0047272193467414,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 602,
+                  "gap_ns": 132442000,
+                  "to_row": 603
+                },
+                {
+                  "from_row": 2235,
+                  "gap_ns": 132890000,
+                  "to_row": 2236
+                }
+              ],
+              "max_gap_ns": 132890000,
+              "median_gap_ns": 66340000.0,
+              "observed_fps": 15.070908290201121,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 2713,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.0007371913011426465
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_12933256_right_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 15.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 100000000,
+            "max_stall_fail_threshold_ns": 233333334,
+            "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+            "max_within_stream_inter_frame_gap_ns": 132890000,
+            "median_period_error_ratio": 0.004900004975499975,
+            "median_within_stream_inter_frame_period_ns": 66340000.0,
+            "nominal_frame_period_ns": 66666667,
+            "observed_fps": 15.070908290201121,
+            "observed_fps_ratio": 1.0047272193467414,
+            "rate_policy": "warn",
+            "recorder_timestamp_summary": {
+              "expected_fps": 15.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 602,
+                  "gap_ns": 132442000,
+                  "to_row": 603
+                },
+                {
+                  "from_row": 2235,
+                  "gap_ns": 132890000,
+                  "to_row": 2236
+                }
+              ],
+              "max_gap_ns": 132890000,
+              "median_gap_ns": 66340000.0,
+              "observed_fps": 15.070908290201121,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 2713,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.0007371913011426465
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        }
+      }
+    }
+  },
+  "validation_scope": "manifest_conversion_plan",
+  "within_stream_inter_frame_timestamp_validation": {
+    "cross_camera_sync_note": "Cross-camera synchronization and alignment are evaluated separately (validate_session), not by this within-stream gap policy.",
+    "policy": {
+      "fail_on_duplicate_timestamps": true,
+      "fail_on_missing_timestamps": true,
+      "fail_on_non_monotonic_timestamps": true,
+      "gap_policy": "warn",
+      "large_gap_warning_multiplier": 1.5,
+      "max_gap_fail_multiplier": 3.5,
+      "max_large_gap_count": null,
+      "max_large_gap_rate": 0.005,
+      "median_period_tolerance_ratio": 0.05,
+      "min_observed_fps_ratio": 0.98,
+      "rate_policy": "warn"
+    },
+    "scope": "within_stream_inter_frame_timestamp_validation",
+    "status": "passed_with_warnings",
+    "streams": {
+      "zed_12933256_depth_zed_sdk_neural_plus": {
+        "decision": "passed_with_warnings",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+          "max_within_stream_inter_frame_gap_ns": 132890000,
+          "median_period_error_ratio": 0.004900004975499975,
+          "median_within_stream_inter_frame_period_ns": 66340000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.070908290201121,
+          "observed_fps_ratio": 1.0047272193467414,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 2713,
+          "within_stream_large_gap_count": 2,
+          "within_stream_large_gap_rate": 0.0007371913011426465
+        },
+        "reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "zed_12933256_left_rgb": {
+        "decision": "passed_with_warnings",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+          "max_within_stream_inter_frame_gap_ns": 132890000,
+          "median_period_error_ratio": 0.004900004975499975,
+          "median_within_stream_inter_frame_period_ns": 66340000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.070908290201121,
+          "observed_fps_ratio": 1.0047272193467414,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 2713,
+          "within_stream_large_gap_count": 2,
+          "within_stream_large_gap_rate": 0.0007371913011426465
+        },
+        "reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      },
+      "zed_12933256_right_rgb": {
+        "decision": "passed_with_warnings",
+        "metrics": {
+          "expected_fps": 15.0,
+          "gap_policy": "warn",
+          "large_gap_warning_threshold_ns": 100000000,
+          "max_stall_fail_threshold_ns": 233333334,
+          "max_within_stream_inter_frame_gap_multiplier": 1.99334999003325,
+          "max_within_stream_inter_frame_gap_ns": 132890000,
+          "median_period_error_ratio": 0.004900004975499975,
+          "median_within_stream_inter_frame_period_ns": 66340000.0,
+          "nominal_frame_period_ns": 66666667,
+          "observed_fps": 15.070908290201121,
+          "observed_fps_ratio": 1.0047272193467414,
+          "rate_policy": "warn",
+          "recorder_timestamp_summary": {
+            "expected_fps": 15.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "observed_fps": 15.070908290201121,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "startup_gap_excluded_from_warnings": false,
+          "timing_column": "device_timestamp_ns",
+          "within_stream_inter_frame_interval_count": 2713,
+          "within_stream_large_gap_count": 2,
+          "within_stream_large_gap_rate": 0.0007371913011426465
+        },
+        "reasons": [
+          "sparse_within_stream_inter_frame_timestamp_gaps"
+        ],
+        "recorder_timestamp_summary": {
+          "expected_fps": 15.0,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "gap_ns": 132442000,
+              "to_row": 603
+            },
+            {
+              "from_row": 2235,
+              "gap_ns": 132890000,
+              "to_row": 2236
+            }
+          ],
+          "max_gap_ns": 132890000,
+          "median_gap_ns": 66340000.0,
+          "observed_fps": 15.070908290201121,
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "warnings": [
+          "sparse_within_stream_inter_frame_timestamp_gap"
+        ]
+      }
+    }
+  }
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/conversion_timing.json

@@ -0,0 +1,126 @@
+{
+  "conversion_id": "session_20261020_170312_744718",
+  "counts": {
+    "auto_lossless_encoder_probe_cache_miss": 2,
+    "auto_lossless_encoder_probe_run": 2,
+    "auto_lossless_probe_candidates.zed_12933256_left_rgb": 4,
+    "auto_lossless_probe_candidates.zed_12933256_right_rgb": 4,
+    "copy_manifest_source_hash_reused": 1,
+    "encoded_frame_and_hash_frames.zed_12933256_depth_zed_sdk_neural_plus": 2714,
+    "encoded_frame_and_hash_frames.zed_12933256_left_rgb": 2714,
+    "encoded_frame_and_hash_frames.zed_12933256_right_rgb": 2714,
+    "encoder_write_frames.zed_12933256_left_rgb": 2714,
+    "encoder_write_frames.zed_12933256_right_rgb": 2714,
+    "physical_container_open.ZED-M_SN12933256.svo2": 1,
+    "post_export_device_extrinsics_snapshot_hits": 1,
+    "source_file_hash_cache.miss": 1,
+    "stream_hash_frames.zed_12933256_depth_zed_sdk_neural_plus": 2714,
+    "stream_hash_frames.zed_12933256_left_rgb": 2714,
+    "stream_hash_frames.zed_12933256_right_rgb": 2714,
+    "zdepth_compress_write_frames.zed_12933256_depth_zed_sdk_neural_plus": 2714,
+    "zed_svo_probe_cache.equivalence_miss": 1,
+    "zed_svo_probe_cache.intrinsics_miss": 1
+  },
+  "durations_s": {
+    "auto_lossless_encoder_probe.zed_12933256_left_rgb": 3.148297783999965,
+    "auto_lossless_encoder_probe.zed_12933256_right_rgb": 2.7022408670000004,
+    "auto_lossless_probe_encode.zed_12933256_left_rgb": 0.050025391000076525,
+    "auto_lossless_probe_encode.zed_12933256_right_rgb": 0.041987994999885814,
+    "auto_lossless_probe_validate.zed_12933256_left_rgb": 3.0662525029998733,
+    "auto_lossless_probe_validate.zed_12933256_right_rgb": 2.6344436130000304,
+    "copy_manifest_file_copy": 0.002516328000183421,
+    "copy_manifest_source_hashing": 5.50990000647289e-05,
+    "dataset_manifest_update": 0.0027510800000527524,
+    "encoded_frame_and_hash.zed_12933256_depth_zed_sdk_neural_plus": 135.22133168900245,
+    "encoded_frame_and_hash.zed_12933256_left_rgb": 25.532380489999014,
+    "encoded_frame_and_hash.zed_12933256_right_rgb": 28.491683237991197,
+    "encoder_write.zed_12933256_left_rgb": 109.22916661700015,
+    "encoder_write.zed_12933256_right_rgb": 88.56304113299564,
+    "grouped_zed_export": 764.059842909,
+    "inspect_recording_dir": 0.0075298460000112755,
+    "manifest_promotion": 0.00862739099989085,
+    "overall_conversion": 1101.749852225,
+    "physical_container_grab_decode.ZED-M_SN12933256.svo2": 175.78850954700033,
+    "physical_container_open.ZED-M_SN12933256.svo2": 7.749843938000026,
+    "plan_building": 0.38286640499995883,
+    "post_export_build_calibration_json": 4.8878000143304234e-05,
+    "post_export_build_stream_frame_assignment": 2.5450001430726843e-06,
+    "post_export_camera_settings_propagation": 5.4216999842537916e-05,
+    "post_export_copy_manifest_calibration_package": 1.4986999985922012e-05,
+    "post_export_copy_manifest_camera_settings": 1.633000010770047e-06,
+    "post_export_copy_manifest_conversion_metadata": 0.003339486999948349,
+    "post_export_copy_manifest_file_copy": 0.0006969820001359039,
+    "post_export_copy_manifest_recording_files": 0.000669512000058603,
+    "post_export_copy_manifest_source_hashing": 5.50990000647289e-05,
+    "post_export_dataset_manifest_lock": 0.008624565999980405,
+    "post_export_dataset_manifest_update": 0.0027510800000527524,
+    "post_export_enrich_camera_intrinsics": 0.00010841400012395752,
+    "post_export_enrich_camera_intrinsics_from_snapshot": 5.409999630501261e-07,
+    "post_export_manifest_promotion": 0.00862739099989085,
+    "post_export_metadata": 0.0033531010001297545,
+    "post_export_metadata_json_write": 0.0018149889999676816,
+    "post_export_parquet_manifest_write": 0.0011686509999435657,
+    "post_export_session_manifest_row_build": 0.00014731400005985051,
+    "post_export_staged_session_rename": 0.0010974839999562391,
+    "post_export_write_calibration_json": 0.000529640999957337,
+    "pre_export_setup": 1.1929028790000302,
+    "recording_pairing_metadata_load_or_build": 9.190200000830373e-05,
+    "resolve_grouped_rgb_specs.ZED-M_SN12933256.svo2": 7.052999990264652e-06,
+    "session_manifest_row_build": 0.0013292819999151106,
+    "session_validation": 283.84945296900014,
+    "source_file_hash.ZED-M_SN12933256.svo2": 9.456752560999917,
+    "source_file_hashing": 9.458074520999958,
+    "source_frame_hash.zed_12933256_depth_zed_sdk_neural_plus": 11.266403866005476,
+    "source_frame_hash.zed_12933256_left_rgb": 14.82086668699958,
+    "source_frame_hash.zed_12933256_right_rgb": 16.501975492002202,
+    "staging_session_metadata_write": 1.1848071319999463,
+    "stream_encode.zed_12933256_depth_zed_sdk_neural_plus": 219.2532476820037,
+    "stream_encode.zed_12933256_left_rgb": 119.88238477900074,
+    "stream_encode.zed_12933256_right_rgb": 100.4938827369973,
+    "stream_export.zed_12933256_depth_zed_sdk_neural_plus": 231.27230790700116,
+    "stream_export.zed_12933256_left_rgb": 135.3139032209998,
+    "stream_export.zed_12933256_right_rgb": 117.5986278130033,
+    "stream_export_sink_close.zed_12933256_depth_zed_sdk_neural_plus": 2.4159884939999756,
+    "stream_export_sink_close.zed_12933256_left_rgb": 9.006003538999948,
+    "stream_export_sink_close.zed_12933256_right_rgb": 9.660346768999943,
+    "stream_export_sink_open.zed_12933256_depth_zed_sdk_neural_plus": 0.00017357499996251136,
+    "stream_export_sink_open.zed_12933256_left_rgb": 0.00036814999998568965,
+    "stream_export_sink_open.zed_12933256_right_rgb": 0.00033582000003207213,
+    "stream_hash.zed_12933256_depth_zed_sdk_neural_plus": 11.266403866005476,
+    "stream_hash.zed_12933256_left_rgb": 14.82086668699958,
+    "stream_hash.zed_12933256_right_rgb": 16.501975492002202,
+    "stream_preparation": 806.702158122,
+    "table_writing": 0.14883651900004224,
+    "zdepth_compress_write.zed_12933256_depth_zed_sdk_neural_plus": 95.46652597700097,
+    "zdepth_fidelity_metrics.zed_12933256_depth_zed_sdk_neural_plus": 97.51384922999944,
+    "zdepth_finalize.zed_12933256_depth_zed_sdk_neural_plus": 1.8169931470001757,
+    "zdepth_quantize.zed_12933256_depth_zed_sdk_neural_plus": 123.78672170500272,
+    "zed_container_export.ZED-M_SN12933256.svo2": 806.6531500450001,
+    "zed_equivalence_probe.ZED-M_SN12933256.svo2": 14.80381270199996,
+    "zed_frame_loop.ZED-M_SN12933256.svo2": 756.2438237240001,
+    "zed_intrinsics_probe.ZED-M_SN12933256.svo2": 6.705758033000052,
+    "zed_sink_close.ZED-M_SN12933256.svo2": 21.082414337000046
+  },
+  "metadata": {
+    "auto_lossless_probe_cache_hits": 0,
+    "auto_lossless_probe_cache_misses": 2,
+    "auto_lossless_probe_cache_path": "/home/shaunak/.cache/belt_perception/auto_lossless_probe_cache.json",
+    "auto_lossless_probe_cache_policy": "auto",
+    "auto_lossless_probe_cache_refreshes": 0,
+    "grouped_zed_container_provenance_json": "{\"/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2\": {\"export_mode\": \"one_pass\", \"first_native_container_frame_index\": 1, \"grouped_zed_export\": true, \"native_index_grab_plan_seek_count\": 1, \"probe_depth_mode_none\": \"NONE\", \"probe_depth_mode_target\": \"NEURAL_PLUS\", \"recording_path\": \"/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_12933256_left_rgb\", \"zed_12933256_right_rgb\", \"zed_12933256_depth_zed_sdk_neural_plus\"]}}",
+    "grouped_zed_export": true,
+    "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+    "source_hash_cache_hits": 0,
+    "source_hash_cache_misses": 1,
+    "source_hash_cache_path": "/home/shaunak/.cache/belt_perception/source_hash_cache.json",
+    "source_hash_cache_policy": "auto",
+    "source_hash_worker_count": 1,
+    "zed_svo_probe_cache_equivalence_hits": 0,
+    "zed_svo_probe_cache_equivalence_misses": 1,
+    "zed_svo_probe_cache_intrinsics_hits": 0,
+    "zed_svo_probe_cache_intrinsics_misses": 1,
+    "zed_svo_probe_cache_path": "/home/shaunak/.cache/belt_perception/zed_svo_probe_cache.json",
+    "zed_svo_probe_cache_policy": "auto"
+  },
+  "overall_elapsed_s": 1101.749888475
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/discovery_report.json

@@ -0,0 +1,715 @@
+{
+  "clock_policy": {
+    "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain",
+    "default_sync_time": "streams/<stream_id>/timestamps.parquet for manifest recordings",
+    "old_robot_state_domain": "lcm_utime_or_robot_clock"
+  },
+  "known_recording_code_findings": {
+    "new_record_multi_camera": [
+      "ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().",
+      "RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.",
+      "host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame()."
+    ],
+    "old_zed_robot_state_recording": [
+      "PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.",
+      "SVOData timestamp is set from payload timestamp_us via set_microseconds().",
+      "No independent host receive timestamp is present for old embedded robot states."
+    ]
+  },
+  "legacy_timestamp_sidecars": {
+    "authoritative": false,
+    "files": [
+      "timestamps_zed_SN12933256.csv"
+    ],
+    "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative"
+  },
+  "recording_dir": "recordings/20261020_170312_744718",
+  "recording_manifest": {
+    "authoritative_timestamp_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "manifest_timestamp_sidecars": [
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_170312_744718/streams/zed_12933256_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_170312_744718/streams/zed_12933256_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+        "stream_id": "zed_12933256_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20261020_170312_744718/streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+      }
+    ],
+    "path": "recordings/20261020_170312_744718/recording_manifest.json",
+    "present": true,
+    "stream_count": 3
+  },
+  "recording_metadata": {
+    "calibration": {
+      "packaged": false,
+      "reason": "calibration_run_dir was not provided"
+    },
+    "camera_close_reports": [
+      {
+        "camera_lock_acquired_for_close": true,
+        "camera_type": "zed",
+        "close_warning_messages": [],
+        "read_thread_alive_after_stop": false,
+        "read_thread_alive_before_close": false,
+        "recording_enabled_after_disable": false,
+        "recording_enabled_before_close": true,
+        "recording_stop_reason": "duration_sec_limit",
+        "sdk_close_attempted": true,
+        "sdk_close_exception": null,
+        "sdk_close_retry_count": 0,
+        "sdk_is_opened_after_close": false,
+        "sdk_is_opened_before_close": true,
+        "serial_number": "12933256"
+      }
+    ],
+    "camera_image_controls": {
+      "auto_controls_frozen_during_recording": false,
+      "errors": [],
+      "established_before_warmup": true,
+      "mode": "native_auto_defaults",
+      "per_camera": {
+        "12933256": {
+          "auto_exposure_gain_enabled": true,
+          "auto_white_balance_enabled": true,
+          "camera_type": "zed",
+          "controls": {
+            "AEC_AGC": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "BRIGHTNESS": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "CONTRAST": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "EXPOSURE": {
+              "after": 91,
+              "before": 91,
+              "status": "reset_to_sdk_default"
+            },
+            "GAIN": {
+              "after": 37,
+              "before": 37,
+              "status": "reset_to_sdk_default"
+            },
+            "GAMMA": {
+              "after": 5,
+              "before": 5,
+              "status": "reset_to_sdk_default"
+            },
+            "HUE": {
+              "after": 0,
+              "before": 0,
+              "status": "reset_to_sdk_default"
+            },
+            "SATURATION": {
+              "after": 4,
+              "before": 4,
+              "status": "reset_to_sdk_default"
+            },
+            "SHARPNESS": {
+              "after": 3,
+              "before": 3,
+              "status": "reset_to_sdk_default"
+            },
+            "WHITEBALANCE_AUTO": {
+              "after": 1,
+              "before": 1,
+              "status": "enabled"
+            },
+            "WHITEBALANCE_TEMPERATURE": {
+              "after": 4700,
+              "before": 4700,
+              "status": "reset_to_sdk_default"
+            }
+          },
+          "errors": [],
+          "initial_auto_exposure_gain": true,
+          "initial_auto_white_balance": true,
+          "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+          "status": "established",
+          "unsupported_controls": []
+        }
+      },
+      "policy_replay": false,
+      "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+      "status": "established",
+      "unmanaged_cameras": []
+    },
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "cameras": [
+      {
+        "actual_opened_profile": {
+          "actual_fps": 15.0,
+          "actual_fps_source": "camera_information.camera_configuration.fps",
+          "depth_mode": "NEURAL_PLUS",
+          "fps": 15.0,
+          "image_format": "rgb8",
+          "requested_fps": 15.0,
+          "resolution": [
+            1242,
+            2208
+          ],
+          "stream_profile_name": "HD2K",
+          "svo_compression_mode": "H265_LOSSLESS",
+          "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+        },
+        "camera_metadata": {
+          "camera_id": "right-of-ur10",
+          "camera_type": "zed",
+          "capabilities": [
+            "stereo_color",
+            "raw_depth",
+            "color",
+            "depth",
+            "right_color",
+            "aligned_depth_to_color"
+          ],
+          "color_T_depth": null,
+          "color_T_ir_left": null,
+          "color_T_ir_right": null,
+          "color_camera_frame": null,
+          "color_intrinsics": [
+            [
+              1462.605712890625,
+              0.0,
+              1172.291015625
+            ],
+            [
+              0.0,
+              1462.605712890625,
+              609.0044555664062
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_T_color": null,
+          "depth_camera_frame": "zed_12933256_left_rgb_camera",
+          "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+          "depth_intrinsics": [
+            [
+              1462.605712890625,
+              0.0,
+              1172.291015625
+            ],
+            [
+              0.0,
+              1462.605712890625,
+              609.0044555664062
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_scale_m": null,
+          "fps": 15.0,
+          "ir_left_T_color": null,
+          "ir_left_camera_frame": null,
+          "ir_right_T_color": null,
+          "ir_right_camera_frame": null,
+          "left_camera_frame": "zed_12933256_left_rgb_camera",
+          "left_rgb_camera_T_right_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "metadata": {
+            "aligned_depth_target": "left_color",
+            "color_distortion_coefficients": null,
+            "color_distortion_model": null,
+            "color_image_geometry": "zed_rectified_rgb",
+            "color_is_rectified": true,
+            "color_projection_model_used": "rectified_pinhole",
+            "color_rectification_source": "zed_sdk_rectified_view",
+            "depth_units": "metres",
+            "input_type": "INPUT_TYPE.USB",
+            "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+            "offline_recording": false,
+            "usb": {
+              "bus": "8",
+              "input_type_raw": "INPUT_TYPE.USB",
+              "is_usb3": true,
+              "note": null,
+              "pci_controller_path": "/sys/devices/pci0000:00",
+              "port_path": "1",
+              "product": "ZED-M",
+              "speed_mbps": 5000.0,
+              "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+              "usb_type_descriptor": "3.00",
+              "usb_validation_source": "linux_sysfs_video_device",
+              "video_device_path": "/dev/video2"
+            },
+            "usb_product": "ZED-M",
+            "usb_speed_mbps": 5000.0,
+            "usb_type_descriptor": "3.00"
+          },
+          "model": "ZED-M",
+          "resolution_hw": [
+            1242,
+            2208
+          ],
+          "right_camera_frame": "zed_12933256_right_rgb_camera",
+          "right_rgb_camera_T_left_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06304030865430832
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "serial_number": "12933256",
+          "stereo_baseline_m": 0.06304030865430832,
+          "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b"
+        },
+        "camera_type": "zed",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+        "dropped_non_monotonic_timestamp_count": 0,
+        "dropped_stale_preofficial_timestamp_count": 0,
+        "first_official_native_frame_index": 1,
+        "frame_count": 2714,
+        "name": "right-of-ur10",
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "official_frame_count": 2714,
+        "post_native_discarded_frame_count": 0,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15,
+        "recording_path": "ZED-M_SN12933256.svo2",
+        "serial_number": "12933256",
+        "stream_summaries": {
+          "zed_12933256_depth_zed_sdk_neural_plus": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66412000,
+            "host_timestamp_max_ns": 1792530378523763309,
+            "host_timestamp_min_ns": 1792530198514911086,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "modality": "depth",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.070908290201121,
+            "official_frame_count": 2714,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 2714,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792530378442622086,
+            "timestamp_min_ns": 1792530198426929086,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "zed_12933256_left_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66412000,
+            "host_timestamp_max_ns": 1792530378523763309,
+            "host_timestamp_min_ns": 1792530198514911086,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "modality": "left_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.070908290201121,
+            "official_frame_count": 2714,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 2714,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_left_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792530378442622086,
+            "timestamp_min_ns": 1792530198426929086,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "zed_12933256_right_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 66666667,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 15.0,
+            "first_inter_frame_gap_ns": 66412000,
+            "host_timestamp_max_ns": 1792530378523763309,
+            "host_timestamp_min_ns": 1792530198514911086,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 602,
+                "gap_ns": 132442000,
+                "to_row": 603
+              },
+              {
+                "from_row": 2235,
+                "gap_ns": 132890000,
+                "to_row": 2236
+              }
+            ],
+            "max_gap_ns": 132890000,
+            "median_gap_ns": 66340000.0,
+            "modality": "right_rgb",
+            "nominal_frame_period_ns": 66666667,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 15.070908290201121,
+            "official_frame_count": 2714,
+            "physical_camera_id": "zed_12933256",
+            "preroll_frame_count": 15,
+            "row_count": 2714,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "12933256",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_12933256_right_rgb",
+            "strict_alignment_warning_tolerance_ns": 33333334,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 100000000,
+            "timestamp_max_ns": 1792530378442622086,
+            "timestamp_min_ns": 1792530198426929086,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "streams": [
+          {
+            "expected_fps": 15.0,
+            "modality": "left_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_left_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "right_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_right_rgb"
+          },
+          {
+            "expected_fps": 15.0,
+            "modality": "depth",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 15,
+              "resolution_hw": [
+                1242,
+                2208
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd2k"
+            },
+            "stream_id": "zed_12933256_depth_zed_sdk_neural_plus"
+          }
+        ],
+        "timestamp_path": "timestamps_zed_SN12933256.csv"
+      }
+    ],
+    "config": {
+      "alignment_warning_frame_periods": 0.5,
+      "allow_extra_calibrated_cameras": true,
+      "calibration_pose_source": "phase_05_final",
+      "calibration_run_dir": null,
+      "camera_rig_profile_name": "single-zed-right-of-ur10",
+      "capture": {
+        "overrides_by_serial": {},
+        "realsense": {
+          "duplicate_frame_policy": null,
+          "duplicate_max_count": null,
+          "duplicate_timeout_s": null,
+          "rectify_color": null
+        },
+        "shared": {
+          "fps": null,
+          "image_format": null,
+          "require_stereo_frames": null,
+          "resolution_hw": null,
+          "retain_gpu_images": null,
+          "return_pointmap_instead_of_depth": null,
+          "warmup_frames": null
+        },
+        "zed": {
+          "allow_depth_mode_fallback": null,
+          "coordinate_units": null,
+          "depth_maximum_distance_m": null,
+          "depth_minimum_distance_m": null,
+          "depth_mode_name": null,
+          "depth_stabilization": null,
+          "open_timeout_sec": null
+        }
+      },
+      "capture_profile_name": "zed-hd2k15",
+      "copy_calibration_depth_snapshots": false,
+      "copy_calibration_rerun_rrd": false,
+      "copy_full_calibration_run": false,
+      "depth_mode": "neural_plus",
+      "duration_sec": 180.0,
+      "fail_on_timestamp_gaps": false,
+      "max_frames": null,
+      "max_frames_no_progress_timeout_sec": 10.0,
+      "native_recording_starts_after_warmup": true,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "no_frame_poll_sleep_sec": 0.001,
+      "output_datetime": "20261020_170312_744718",
+      "pairing_validation_failure_policy": "fail",
+      "post_native_priming_max_discard_frames": 30,
+      "post_native_priming_timeout_sec": 5.0,
+      "post_record_quality_policy": "warn",
+      "post_record_validate_pairing": true,
+      "realsense_color_format": null,
+      "realsense_fps": null,
+      "realsense_height": null,
+      "realsense_official_start_consecutive_framesets": 2,
+      "realsense_streams": "color,depth",
+      "realsense_width": null,
+      "recording_profile": "dynamic-validation-safe",
+      "recording_stop_policy": "duration_or_all_max_frames",
+      "require_calibration": false,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15,
+      "stream_warmup_no_frame_timeout_sec": 10.0,
+      "timestamp_gap_warning_frame_periods": 1.5,
+      "zed_fps": null,
+      "zed_resolution": null,
+      "zed_svo_compression_mode": "h265_lossless"
+    },
+    "duration_sec": 180.0,
+    "max_frames": null,
+    "recording_active_elapsed_sec": 180.02384409099977,
+    "recording_attempt_started_at_unix_time_ns": 1792530192744714413,
+    "recording_datetime": "20261020_170312_744718",
+    "recording_elapsed_sec": 186.52496147155762,
+    "recording_manifest_path": "recording_manifest.json",
+    "recording_metadata_schema_version": 1,
+    "recording_started_at_unix_time_ns": 1792530198452954800,
+    "recording_status": "completed",
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_stop_reason": "duration_sec_limit",
+    "recording_timing": {
+      "attempt_elapsed_sec": 186.52495861053467,
+      "official_active_elapsed_sec": 180.02384409099977,
+      "official_started_at_unix_time_ns": 1792530198452954800,
+      "official_stopped_at_unix_time_ns": 1792530378476277561,
+      "preroll_elapsed_sec": 0.9775694150002892,
+      "recording_started_at_unix_time_ns": 1792530198452954800,
+      "stream_preroll": {
+        "first_official_native_frame_index": 1,
+        "native_container_includes_post_native_priming_frames": true,
+        "native_container_includes_preroll_frames": false,
+        "native_recording_starts_after_warmup": true,
+        "per_camera_preroll_frame_count": {
+          "12933256": 15
+        },
+        "post_native_priming": {
+          "per_camera_discarded_frame_count": {
+            "12933256": 0
+          },
+          "per_camera_first_official_native_frame_index": {
+            "12933256": 1
+          },
+          "per_camera_post_native_priming_frame_count": {
+            "12933256": 1
+          },
+          "post_native_priming_applied": true,
+          "post_native_priming_elapsed_sec": 0.04773006200002783
+        },
+        "preroll_elapsed_sec": 0.9775694150002892,
+        "stream_settle_sec": 0.0,
+        "stream_warmup_frames": 15
+      },
+      "wind_down_elapsed_sec": 0.7933781599999747
+    },
+    "stream_preroll": {
+      "first_official_native_frame_index": 1,
+      "native_container_includes_post_native_priming_frames": true,
+      "native_container_includes_preroll_frames": false,
+      "native_recording_starts_after_warmup": true,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.04773006200002783
+      },
+      "preroll_elapsed_sec": 0.9775694150002892,
+      "stream_settle_sec": 0.0,
+      "stream_warmup_frames": 15
+    },
+    "stream_settle_sec": 0.0,
+    "stream_warmup_frames": 15,
+    "timestamp_validation_policy": {
+      "alignment_warning_frame_periods": 0.5,
+      "fail_on_timestamp_gaps": false,
+      "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+      "timestamp_gap_warning_frame_periods": 1.5
+    }
+  },
+  "source_files": [
+    {
+      "name": "ZED-M_SN12933256.svo2",
+      "path": "recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+      "sha256": null,
+      "size_bytes": 6947947891,
+      "suffix": ".svo2"
+    }
+  ],
+  "timestamp_sidecars": [
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1792530378442622086,
+      "device_timestamp_min_ns": 1792530198426929086,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 2713,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1792530378523763309,
+      "host_timestamp_min_ns": 1792530198514911086,
+      "path": "recordings/20261020_170312_744718/timestamps_zed_SN12933256.csv",
+      "row_count": 2714
+    }
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/discovery_report.md

@@ -0,0 +1,42 @@
+# Recording Discovery Report
+
+Recording directory: `recordings/20261020_170312_744718`
+
+## Clock Policy
+
+- Do not assume camera/device/robot timestamps share a clock domain.
+- Use manifest Parquet timestamp sidecars as authoritative when `recording_manifest.json` is present.
+- For explicit legacy conversion, use joined, trustworthy host timestamps as default synchronization time when available.
+- Preserve acquisition/device timestamps as auxiliary columns.
+- Mark old embedded robot states as `lcm_utime_or_robot_clock` when no host receive time exists.
+
+## Source Files
+
+- `ZED-M_SN12933256.svo2`: 6947947891 bytes
+
+## Timestamp Sources
+
+- Authoritative timestamp source: `streams/<stream_id>/timestamps.parquet`.
+- Native video/container PTS is not used for cross-stream synchronization.
+- Legacy CSV timestamp sidecars, when present, are compatibility/debug artifacts only.
+
+### Manifest Parquet Sidecars
+- `zed_12933256_left_rgb`: `streams/zed_12933256_left_rgb/timestamps.parquet`
+- `zed_12933256_right_rgb`: `streams/zed_12933256_right_rgb/timestamps.parquet`
+- `zed_12933256_depth_zed_sdk_neural_plus`: `streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet`
+
+## Legacy CSV Timestamp Sidecars
+
+- `timestamps_zed_SN12933256.csv`: rows=2714, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+
+## Recording Code Findings
+
+### new_record_multi_camera
+- ZED sidecar device_timestamp_ns comes from sl.TIME_REFERENCE.IMAGE after grab().
+- RealSense sidecar device_timestamp_ns comes from color_frame.get_timestamp() ms converted to ns.
+- host_timestamp_ns is time.time_ns() sampled immediately after recorder.record_frame().
+
+### old_zed_robot_state_recording
+- PandaStatus and PandaGripperStatus are stored as ZED SVOData custom keys.
+- SVOData timestamp is set from payload timestamp_us via set_microseconds().
+- No independent host receive timestamp is present for old embedded robot states.

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/grouped_zed_export_provenance.json

@@ -0,0 +1,19 @@
+{
+  "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2": {
+    "export_mode": "one_pass",
+    "first_native_container_frame_index": 1,
+    "grouped_zed_export": true,
+    "native_index_grab_plan_seek_count": 1,
+    "probe_depth_mode_none": "NONE",
+    "probe_depth_mode_target": "NEURAL_PLUS",
+    "recording_path": "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb",
+      "zed_12933256_depth_zed_sdk_neural_plus"
+    ]
+  }
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/raw_stream_summary.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e6c7b6de92f85d6dd5f7260d2cedf6d28a64d5d11c24d0d65dbdb8d1f1bc8c
+size 95545

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/realsense_bag_pairing.json

@@ -0,0 +1,19 @@
+{
+  "bag_index_artifact": null,
+  "depth_aligned_to_color_pairing_policy": null,
+  "frame_number_offset_median": null,
+  "frame_number_offset_p95": null,
+  "frame_number_offset_unit": "frames",
+  "legacy_native_index_pairing_detected_bad": false,
+  "per_stream_legacy_audit": [],
+  "raw_pairing_validation": {
+    "recording_dir": "recordings/20261020_170312_744718",
+    "status": "skipped_no_realsense_streams"
+  },
+  "raw_pairing_validator_status": "skipped_no_realsense_streams",
+  "realsense_bag_pairing_policy": "sdk_frame_number",
+  "recording_pairing_validation_artifact": null,
+  "recording_pairing_validation_skipped_reason": "no_realsense_streams",
+  "safe_for_dynamic_multiview_tracking": false,
+  "temporal_pixel_sync_status": "not_applicable"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/recording_manifest.json

@@ -0,0 +1,465 @@
+{
+  "recording_manifest_schema_version": 1,
+  "recording_datetime": "20261020_170312_744718",
+  "recording_status": "completed",
+  "recording_stop_reason": "duration_sec_limit",
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "capture_profile_name": "zed-hd2k15",
+  "raw_container_policy": {
+    "zed": "svo2",
+    "realsense": "bag",
+    "direct_mkv_parquet_payload_recording": false,
+    "posthoc_conversion_required_for_ml_formats": true
+  },
+  "requested_acquisition": {
+    "capture_profile_name": "zed-hd2k15",
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "fps": null,
+    "zed_stream_profile_name": "HD2K",
+    "realsense_resolution_hw": null,
+    "realsense_image_format": null,
+    "per_camera": {
+      "zed_12933256": {
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "resolution": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8"
+      }
+    },
+    "zed_depth_mode": "NEURAL_PLUS",
+    "realsense_streams": [
+      "color",
+      "depth"
+    ],
+    "zed_svo_compression_mode": "H265_LOSSLESS"
+  },
+  "actual_acquisition": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "enabled_rgb_stream_ids": [
+      "zed_12933256_left_rgb",
+      "zed_12933256_right_rgb"
+    ],
+    "per_camera": {
+      "zed_12933256": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters",
+        "camera_type": "zed",
+        "serial_number": "12933256",
+        "camera_name": "right-of-ur10"
+      }
+    }
+  },
+  "recording_profile": "dynamic-validation-safe",
+  "realsense_pairing_audit": {
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "realsense_color_format": null
+  },
+  "timestamp_alignment_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "nominal_frame_period_ns": 66666667,
+    "default_nearest_neighbor_tolerance": "one nominal frame period per stream",
+    "strict_alignment_warning": "half a nominal frame period per stream",
+    "gap_warning": "per-stream timestamp gaps greater than timestamp_gap_warning_frame_periods"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 91,
+            "after": 91
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 37,
+            "after": 37
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "streams": [
+    {
+      "stream_id": "zed_12933256_left_rgb",
+      "modality": "left_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_left_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_left_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_left_rgb",
+        "modality": "left_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 2714,
+        "expected_fps": 15.0,
+        "observed_fps": 15.070908290201121,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1792530198426929086,
+        "timestamp_max_ns": 1792530378442622086,
+        "median_gap_ns": 66340000.0,
+        "max_gap_ns": 132890000,
+        "large_gap_count": 2,
+        "large_gaps": [
+          {
+            "from_row": 602,
+            "to_row": 603,
+            "gap_ns": 132442000
+          },
+          {
+            "from_row": 2235,
+            "to_row": 2236,
+            "gap_ns": 132890000
+          }
+        ],
+        "first_inter_frame_gap_ns": 66412000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 2714,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1792530198514911086,
+        "host_timestamp_max_ns": 1792530378523763309,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 2714,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_right_rgb",
+      "modality": "right_rgb",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_right_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_right_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_right_rgb",
+        "modality": "right_rgb",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 2714,
+        "expected_fps": 15.0,
+        "observed_fps": 15.070908290201121,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1792530198426929086,
+        "timestamp_max_ns": 1792530378442622086,
+        "median_gap_ns": 66340000.0,
+        "max_gap_ns": 132890000,
+        "large_gap_count": 2,
+        "large_gaps": [
+          {
+            "from_row": 602,
+            "to_row": 603,
+            "gap_ns": 132442000
+          },
+          {
+            "from_row": 2235,
+            "to_row": 2236,
+            "gap_ns": 132890000
+          }
+        ],
+        "first_inter_frame_gap_ns": 66412000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 2714,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1792530198514911086,
+        "host_timestamp_max_ns": 1792530378523763309,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 2714,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    },
+    {
+      "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+      "modality": "depth",
+      "physical_camera_id": "zed_12933256",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "camera_name": "right-of-ur10",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamps_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12933256_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd2k",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
+        "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+        "modality": "depth",
+        "physical_camera_id": "zed_12933256",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "row_count": 2714,
+        "expected_fps": 15.0,
+        "observed_fps": 15.070908290201121,
+        "nominal_frame_period_ns": 66666667,
+        "default_nearest_neighbor_tolerance_ns": 66666667,
+        "strict_alignment_warning_tolerance_ns": 33333334,
+        "timestamp_gap_warning_threshold_ns": 100000000,
+        "timestamp_min_ns": 1792530198426929086,
+        "timestamp_max_ns": 1792530378442622086,
+        "median_gap_ns": 66340000.0,
+        "max_gap_ns": 132890000,
+        "large_gap_count": 2,
+        "large_gaps": [
+          {
+            "from_row": 602,
+            "to_row": 603,
+            "gap_ns": 132442000
+          },
+          {
+            "from_row": 2235,
+            "to_row": 2236,
+            "gap_ns": 132890000
+          }
+        ],
+        "first_inter_frame_gap_ns": 66412000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 2714,
+        "duplicate_timestamp_count": 0,
+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1792530198514911086,
+        "host_timestamp_max_ns": 1792530378523763309,
+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": [
+          "large_timestamp_gap"
+        ]
+      },
+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
+        "preroll_frame_count": 15,
+        "post_native_priming_frame_count": 1,
+        "official_frame_count": 2714,
+        "first_official_native_frame_index": 1,
+        "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+        "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar."
+      }
+    }
+  ],
+  "legacy_timestamp_csvs": [
+    "timestamps_zed_SN12933256.csv"
+  ],
+  "known_converter_gaps": [
+    "Post-hoc converter currently exports RealSense color/depth from BAG; RealSense IR BAG export remains follow-up work."
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/recording_metadata.json

@@ -0,0 +1,635 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20261020_170312_744718",
+  "recording_status": "completed",
+  "recording_attempt_started_at_unix_time_ns": 1792530192744714413,
+  "recording_started_at_unix_time_ns": 1792530198452954800,
+  "camera_rig_profile_name": "single-zed-right-of-ur10",
+  "duration_sec": 180.0,
+  "max_frames": null,
+  "stream_warmup_frames": 15,
+  "stream_settle_sec": 0.0,
+  "recording_stop_policy": "duration_or_all_max_frames",
+  "timestamp_validation_policy": {
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false
+  },
+  "recording_manifest_path": "recording_manifest.json",
+  "config": {
+    "camera_rig_profile_name": "single-zed-right-of-ur10",
+    "capture_profile_name": "zed-hd2k15",
+    "capture": {
+      "shared": {
+        "resolution_hw": null,
+        "fps": null,
+        "image_format": null,
+        "warmup_frames": null,
+        "retain_gpu_images": null,
+        "return_pointmap_instead_of_depth": null,
+        "require_stereo_frames": null
+      },
+      "zed": {
+        "depth_mode_name": null,
+        "allow_depth_mode_fallback": null,
+        "coordinate_units": null,
+        "depth_stabilization": null,
+        "depth_minimum_distance_m": null,
+        "depth_maximum_distance_m": null,
+        "open_timeout_sec": null
+      },
+      "realsense": {
+        "rectify_color": null,
+        "duplicate_frame_policy": null,
+        "duplicate_timeout_s": null,
+        "duplicate_max_count": null
+      },
+      "overrides_by_serial": {}
+    },
+    "output_datetime": "20261020_170312_744718",
+    "duration_sec": 180.0,
+    "max_frames": null,
+    "zed_resolution": null,
+    "zed_fps": null,
+    "zed_svo_compression_mode": "h265_lossless",
+    "realsense_fps": null,
+    "realsense_width": null,
+    "realsense_height": null,
+    "realsense_color_format": null,
+    "realsense_streams": "color,depth",
+    "depth_mode": "neural_plus",
+    "calibration_run_dir": null,
+    "calibration_pose_source": "phase_05_final",
+    "require_calibration": false,
+    "copy_calibration_rerun_rrd": false,
+    "copy_calibration_depth_snapshots": false,
+    "copy_full_calibration_run": false,
+    "allow_extra_calibrated_cameras": true,
+    "nearest_neighbor_alignment_tolerance_frame_periods": 1.0,
+    "alignment_warning_frame_periods": 0.5,
+    "timestamp_gap_warning_frame_periods": 1.5,
+    "fail_on_timestamp_gaps": false,
+    "max_frames_no_progress_timeout_sec": 10.0,
+    "no_frame_poll_sleep_sec": 0.001,
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "stream_warmup_no_frame_timeout_sec": 10.0,
+    "native_recording_starts_after_warmup": true,
+    "post_native_priming_timeout_sec": 5.0,
+    "post_native_priming_max_discard_frames": 30,
+    "realsense_official_start_consecutive_framesets": 2,
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_profile": "dynamic-validation-safe",
+    "post_record_validate_pairing": true,
+    "pairing_validation_failure_policy": "fail",
+    "post_record_quality_policy": "warn"
+  },
+  "calibration": {
+    "packaged": false,
+    "reason": "calibration_run_dir was not provided"
+  },
+  "cameras": [
+    {
+      "name": "right-of-ur10",
+      "serial_number": "12933256",
+      "camera_type": "zed",
+      "recording_path": "ZED-M_SN12933256.svo2",
+      "timestamp_path": "timestamps_zed_SN12933256.csv",
+      "frame_count": 2714,
+      "dropped_non_monotonic_timestamp_count": 0,
+      "streams": [
+        {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        },
+        {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "requested_profile": {
+            "zed_resolution": "hd2k",
+            "resolution_hw": [
+              1242,
+              2208
+            ],
+            "fps": 15,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
+          },
+          "expected_fps": 15.0
+        }
+      ],
+      "official_frame_count": 2714,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "preroll_frame_count": 15,
+      "post_native_priming_frame_count": 1,
+      "first_official_native_frame_index": 1,
+      "native_frame_index_origin": "zero_based_sequential_grab_after_enable_recording_including_post_native_priming",
+      "converter_mapping": "official sidecar row R maps to native decoded frame index 1 + R; native frames [0, 1) were written during post-native priming after enable_recording() and are not listed in the official sidecar.",
+      "dropped_stale_preofficial_timestamp_count": 0,
+      "post_native_discarded_frame_count": 0,
+      "actual_opened_profile": {
+        "resolution": [
+          1242,
+          2208
+        ],
+        "requested_fps": 15.0,
+        "fps": 15.0,
+        "actual_fps": 15.0,
+        "actual_fps_source": "camera_information.camera_configuration.fps",
+        "stream_profile_name": "HD2K",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "camera_metadata": {
+        "camera_id": "right-of-ur10",
+        "serial_number": "12933256",
+        "camera_type": "zed",
+        "model": "ZED-M",
+        "resolution_hw": [
+          1242,
+          2208
+        ],
+        "fps": 15.0,
+        "color_intrinsics": [
+          [
+            1462.605712890625,
+            0.0,
+            1172.291015625
+          ],
+          [
+            0.0,
+            1462.605712890625,
+            609.0044555664062
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "depth_intrinsics": [
+          [
+            1462.605712890625,
+            0.0,
+            1172.291015625
+          ],
+          [
+            0.0,
+            1462.605712890625,
+            609.0044555664062
+          ],
+          [
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "color_T_depth": null,
+        "depth_T_color": null,
+        "color_T_ir_left": null,
+        "ir_left_T_color": null,
+        "color_T_ir_right": null,
+        "ir_right_T_color": null,
+        "left_rgb_camera_T_right_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "right_rgb_camera_T_left_rgb_camera": [
+          [
+            1.0,
+            0.0,
+            0.0,
+            -0.06304030865430832
+          ],
+          [
+            0.0,
+            1.0,
+            0.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            1.0,
+            0.0
+          ],
+          [
+            0.0,
+            0.0,
+            0.0,
+            1.0
+          ]
+        ],
+        "left_camera_frame": "zed_12933256_left_rgb_camera",
+        "right_camera_frame": "zed_12933256_right_rgb_camera",
+        "depth_camera_frame": "zed_12933256_left_rgb_camera",
+        "color_camera_frame": null,
+        "ir_left_camera_frame": null,
+        "ir_right_camera_frame": null,
+        "stereo_baseline_m": 0.06304030865430832,
+        "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+        "transform_convention": "a_T_b maps points from frame b into frame a: p_a = T * p_b",
+        "depth_scale_m": null,
+        "capabilities": [
+          "stereo_color",
+          "raw_depth",
+          "color",
+          "depth",
+          "right_color",
+          "aligned_depth_to_color"
+        ],
+        "metadata": {
+          "color_image_geometry": "zed_rectified_rgb",
+          "color_distortion_coefficients": null,
+          "color_distortion_model": null,
+          "color_is_rectified": true,
+          "color_projection_model_used": "rectified_pinhole",
+          "color_rectification_source": "zed_sdk_rectified_view",
+          "depth_units": "metres",
+          "aligned_depth_target": "left_color",
+          "invalid_depth_convention": "ZED SDK values are preserved, including non-finite invalid depth.",
+          "offline_recording": false,
+          "input_type": "INPUT_TYPE.USB",
+          "usb": {
+            "video_device_path": "/dev/video2",
+            "sysfs_path": "/sys/devices/pci0000:00/0000:00:08.3/0000:66:00.4/usb8/8-1",
+            "bus": "8",
+            "port_path": "1",
+            "pci_controller_path": "/sys/devices/pci0000:00",
+            "usb_type_descriptor": "3.00",
+            "speed_mbps": 5000.0,
+            "product": "ZED-M",
+            "is_usb3": true,
+            "input_type_raw": "INPUT_TYPE.USB",
+            "usb_validation_source": "linux_sysfs_video_device",
+            "note": null
+          },
+          "usb_type_descriptor": "3.00",
+          "usb_speed_mbps": 5000.0,
+          "usb_product": "ZED-M"
+        }
+      },
+      "stream_summaries": {
+        "zed_12933256_left_rgb": {
+          "stream_id": "zed_12933256_left_rgb",
+          "modality": "left_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 2714,
+          "expected_fps": 15.0,
+          "observed_fps": 15.070908290201121,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792530198426929086,
+          "timestamp_max_ns": 1792530378442622086,
+          "median_gap_ns": 66340000.0,
+          "max_gap_ns": 132890000,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "to_row": 603,
+              "gap_ns": 132442000
+            },
+            {
+              "from_row": 2235,
+              "to_row": 2236,
+              "gap_ns": 132890000
+            }
+          ],
+          "first_inter_frame_gap_ns": 66412000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 2714,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792530198514911086,
+          "host_timestamp_max_ns": 1792530378523763309,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "zed_12933256_right_rgb": {
+          "stream_id": "zed_12933256_right_rgb",
+          "modality": "right_rgb",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 2714,
+          "expected_fps": 15.0,
+          "observed_fps": 15.070908290201121,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792530198426929086,
+          "timestamp_max_ns": 1792530378442622086,
+          "median_gap_ns": 66340000.0,
+          "max_gap_ns": 132890000,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "to_row": 603,
+              "gap_ns": 132442000
+            },
+            {
+              "from_row": 2235,
+              "to_row": 2236,
+              "gap_ns": 132890000
+            }
+          ],
+          "first_inter_frame_gap_ns": 66412000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 2714,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792530198514911086,
+          "host_timestamp_max_ns": 1792530378523763309,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        },
+        "zed_12933256_depth_zed_sdk_neural_plus": {
+          "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "physical_camera_id": "zed_12933256",
+          "serial_number": "12933256",
+          "camera_type": "zed",
+          "row_count": 2714,
+          "expected_fps": 15.0,
+          "observed_fps": 15.070908290201121,
+          "nominal_frame_period_ns": 66666667,
+          "default_nearest_neighbor_tolerance_ns": 66666667,
+          "strict_alignment_warning_tolerance_ns": 33333334,
+          "timestamp_gap_warning_threshold_ns": 100000000,
+          "timestamp_min_ns": 1792530198426929086,
+          "timestamp_max_ns": 1792530378442622086,
+          "median_gap_ns": 66340000.0,
+          "max_gap_ns": 132890000,
+          "large_gap_count": 2,
+          "large_gaps": [
+            {
+              "from_row": 602,
+              "to_row": 603,
+              "gap_ns": 132442000
+            },
+            {
+              "from_row": 2235,
+              "to_row": 2236,
+              "gap_ns": 132890000
+            }
+          ],
+          "first_inter_frame_gap_ns": 66412000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 2714,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
+          "sdk_frame_number_reportable": false,
+          "host_timestamp_min_ns": 1792530198514911086,
+          "host_timestamp_max_ns": 1792530378523763309,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
+          ]
+        }
+      }
+    }
+  ],
+  "camera_image_controls": {
+    "mode": "native_auto_defaults",
+    "status": "established",
+    "policy_replay": false,
+    "established_before_warmup": true,
+    "auto_controls_frozen_during_recording": false,
+    "readback_semantics": "Per-control 'before'/'after' values are single startup readbacks taken while establishing native auto control; exposure, gain and white balance keep changing under the cameras' own automatic control for the whole recording and are never frozen into manual settings.",
+    "unmanaged_cameras": [],
+    "per_camera": {
+      "12933256": {
+        "camera_type": "zed",
+        "status": "established",
+        "mechanism": "sl.Camera.set_camera_settings(setting, VIDEO_SETTINGS_VALUE_AUTO=-1) for ISP + exposure/gain/white-balance, then AEC_AGC=1 and WHITEBALANCE_AUTO=1 with mode readback",
+        "controls": {
+          "BRIGHTNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "CONTRAST": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "HUE": {
+            "status": "reset_to_sdk_default",
+            "before": 0,
+            "after": 0
+          },
+          "SATURATION": {
+            "status": "reset_to_sdk_default",
+            "before": 4,
+            "after": 4
+          },
+          "SHARPNESS": {
+            "status": "reset_to_sdk_default",
+            "before": 3,
+            "after": 3
+          },
+          "GAMMA": {
+            "status": "reset_to_sdk_default",
+            "before": 5,
+            "after": 5
+          },
+          "EXPOSURE": {
+            "status": "reset_to_sdk_default",
+            "before": 91,
+            "after": 91
+          },
+          "GAIN": {
+            "status": "reset_to_sdk_default",
+            "before": 37,
+            "after": 37
+          },
+          "WHITEBALANCE_TEMPERATURE": {
+            "status": "reset_to_sdk_default",
+            "before": 4700,
+            "after": 4700
+          },
+          "AEC_AGC": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          },
+          "WHITEBALANCE_AUTO": {
+            "status": "enabled",
+            "before": 1,
+            "after": 1
+          }
+        },
+        "unsupported_controls": [],
+        "initial_auto_exposure_gain": true,
+        "initial_auto_white_balance": true,
+        "auto_exposure_gain_enabled": true,
+        "auto_white_balance_enabled": true,
+        "errors": []
+      }
+    },
+    "errors": []
+  },
+  "stream_preroll": {
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "preroll_elapsed_sec": 0.9775694150002892,
+    "native_recording_starts_after_warmup": true,
+    "native_container_includes_preroll_frames": false,
+    "native_container_includes_post_native_priming_frames": true,
+    "first_official_native_frame_index": 1,
+    "per_camera_preroll_frame_count": {
+      "12933256": 15
+    },
+    "post_native_priming": {
+      "post_native_priming_applied": true,
+      "post_native_priming_elapsed_sec": 0.04773006200002783,
+      "per_camera_discarded_frame_count": {
+        "12933256": 0
+      },
+      "per_camera_post_native_priming_frame_count": {
+        "12933256": 1
+      },
+      "per_camera_first_official_native_frame_index": {
+        "12933256": 1
+      }
+    }
+  },
+  "camera_close_reports": [
+    {
+      "camera_type": "zed",
+      "serial_number": "12933256",
+      "recording_enabled_before_close": true,
+      "recording_enabled_after_disable": false,
+      "read_thread_alive_before_close": false,
+      "read_thread_alive_after_stop": false,
+      "camera_lock_acquired_for_close": true,
+      "sdk_close_attempted": true,
+      "sdk_is_opened_before_close": true,
+      "sdk_is_opened_after_close": false,
+      "sdk_close_retry_count": 0,
+      "sdk_close_exception": null,
+      "close_warning_messages": [],
+      "recording_stop_reason": "duration_sec_limit"
+    }
+  ],
+  "recording_elapsed_sec": 186.52496147155762,
+  "recording_active_elapsed_sec": 180.02384409099977,
+  "recording_timing": {
+    "attempt_elapsed_sec": 186.52495861053467,
+    "official_active_elapsed_sec": 180.02384409099977,
+    "preroll_elapsed_sec": 0.9775694150002892,
+    "wind_down_elapsed_sec": 0.7933781599999747,
+    "recording_started_at_unix_time_ns": 1792530198452954800,
+    "official_started_at_unix_time_ns": 1792530198452954800,
+    "official_stopped_at_unix_time_ns": 1792530378476277561,
+    "stream_preroll": {
+      "stream_warmup_frames": 15,
+      "stream_settle_sec": 0.0,
+      "preroll_elapsed_sec": 0.9775694150002892,
+      "native_recording_starts_after_warmup": true,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
+      "first_official_native_frame_index": 1,
+      "per_camera_preroll_frame_count": {
+        "12933256": 15
+      },
+      "post_native_priming": {
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.04773006200002783,
+        "per_camera_discarded_frame_count": {
+          "12933256": 0
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12933256": 1
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12933256": 1
+        }
+      }
+    }
+  },
+  "recording_stop_reason": "duration_sec_limit"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/session.json

@@ -0,0 +1,43 @@
+{
+  "conversion_time": "2026-10-20T22:32:33.608081+00:00",
+  "converter_command": [
+    "/home/shaunak/Code/grasp/belt_perception/.venv/bin/python",
+    "-m",
+    "dataset_converter.convert_session",
+    "--recording-dir",
+    "recordings/20261020_170312_744718",
+    "--output-root",
+    "converted_datasets",
+    "--input-format",
+    "manifest",
+    "--zed-streams",
+    "all",
+    "--depth-encoder",
+    "zdepth",
+    "--calibration-source",
+    "packaged-if-present",
+    "--zdepth-over-max-behavior",
+    "clamp",
+    "--timestamp-gap-policy",
+    "warn",
+    "--timestamp-rate-policy",
+    "warn",
+    "--large-gap-fail-multiplier",
+    "3.5",
+    "--validate"
+  ],
+  "converter_git_commit": "46f912eefa2dce720b79df547085b8bbdb858ad2",
+  "dataset_format_version": "0.1.0",
+  "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers",
+  "pyav_version": "17.0.1",
+  "realsense_sdk_version": "2.58.2",
+  "session_description": "",
+  "session_description_editing_note": "Edit metadata/session_description.md after conversion to update the human-readable session purpose/contents note.",
+  "session_description_path": "metadata/session_description.md",
+  "session_description_source": "editable_template",
+  "session_id": "session_20261020_170312_744718",
+  "source_file_hashes": {
+    "/home/shaunak/Code/grasp/belt_perception/recordings/20261020_170312_744718/ZED-M_SN12933256.svo2": "a7ba403b0b291c83b87fe96445545e528709eeadf74c4d1249a04ee8fdec7608"
+  },
+  "zed_sdk_version": "5.5.0"
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/session_description.md

@@ -0,0 +1,7 @@
+# Session Description
+
+Purpose:
+
+Data / motion / observations:
+
+Notes:

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/session_manifest.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbdc6c67465e5be216fea02825d9bad11be3c6ad9c16a549c542b0ccc89b0b5f
+size 7181

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/streams.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f167cd3879dbd8caf8b10dc55f1bc3440079dd294edb49d431f3ef6d15e1996a
+size 33347

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/videos.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57a8406d04485c4058e1ff79b1ab8f0c92e128def4efc26d47ecacd8d001f545
+size 13579

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/metadata/zed_12933256_depth_zed_sdk_neural_plus_zdepth_clamped_report.json

@@ -0,0 +1,3548 @@
+{
+  "stream_id": "zed_12933256_depth_zed_sdk_neural_plus",
+  "session_id": "session_20261020_170312_744718",
+  "zdepth_max_depth_m": 8.191,
+  "total_frames_with_clamping": 708,
+  "clamped_frames": [
+    {
+      "video_frame_idx": 0,
+      "frame_index": 0,
+      "clamped_pixel_count": 28
+    },
+    {
+      "video_frame_idx": 1,
+      "frame_index": 1,
+      "clamped_pixel_count": 426
+    },
+    {
+      "video_frame_idx": 2,
+      "frame_index": 2,
+      "clamped_pixel_count": 246
+    },
+    {
+      "video_frame_idx": 3,
+      "frame_index": 3,
+      "clamped_pixel_count": 96
+    },
+    {
+      "video_frame_idx": 4,
+      "frame_index": 4,
+      "clamped_pixel_count": 390
+    },
+    {
+      "video_frame_idx": 5,
+      "frame_index": 5,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 6,
+      "frame_index": 6,
+      "clamped_pixel_count": 273
+    },
+    {
+      "video_frame_idx": 7,
+      "frame_index": 7,
+      "clamped_pixel_count": 613
+    },
+    {
+      "video_frame_idx": 8,
+      "frame_index": 8,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 9,
+      "frame_index": 9,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 10,
+      "frame_index": 10,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 11,
+      "frame_index": 11,
+      "clamped_pixel_count": 168
+    },
+    {
+      "video_frame_idx": 12,
+      "frame_index": 12,
+      "clamped_pixel_count": 59
+    },
+    {
+      "video_frame_idx": 13,
+      "frame_index": 13,
+      "clamped_pixel_count": 113
+    },
+    {
+      "video_frame_idx": 14,
+      "frame_index": 14,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 15,
+      "frame_index": 15,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 16,
+      "frame_index": 16,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 17,
+      "frame_index": 17,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 19,
+      "frame_index": 19,
+      "clamped_pixel_count": 14
+    },
+    {
+      "video_frame_idx": 20,
+      "frame_index": 20,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 21,
+      "frame_index": 21,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 22,
+      "frame_index": 22,
+      "clamped_pixel_count": 352
+    },
+    {
+      "video_frame_idx": 23,
+      "frame_index": 23,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 24,
+      "frame_index": 24,
+      "clamped_pixel_count": 837
+    },
+    {
+      "video_frame_idx": 25,
+      "frame_index": 25,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 26,
+      "frame_index": 26,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 27,
+      "frame_index": 27,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 28,
+      "frame_index": 28,
+      "clamped_pixel_count": 1801
+    },
+    {
+      "video_frame_idx": 29,
+      "frame_index": 29,
+      "clamped_pixel_count": 480
+    },
+    {
+      "video_frame_idx": 30,
+      "frame_index": 30,
+      "clamped_pixel_count": 9465
+    },
+    {
+      "video_frame_idx": 31,
+      "frame_index": 31,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 32,
+      "frame_index": 32,
+      "clamped_pixel_count": 1520
+    },
+    {
+      "video_frame_idx": 33,
+      "frame_index": 33,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 34,
+      "frame_index": 34,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 35,
+      "frame_index": 35,
+      "clamped_pixel_count": 7281
+    },
+    {
+      "video_frame_idx": 37,
+      "frame_index": 37,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 38,
+      "frame_index": 38,
+      "clamped_pixel_count": 396
+    },
+    {
+      "video_frame_idx": 39,
+      "frame_index": 39,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 40,
+      "frame_index": 40,
+      "clamped_pixel_count": 2140
+    },
+    {
+      "video_frame_idx": 41,
+      "frame_index": 41,
+      "clamped_pixel_count": 4110
+    },
+    {
+      "video_frame_idx": 42,
+      "frame_index": 42,
+      "clamped_pixel_count": 6933
+    },
+    {
+      "video_frame_idx": 43,
+      "frame_index": 43,
+      "clamped_pixel_count": 7110
+    },
+    {
+      "video_frame_idx": 44,
+      "frame_index": 44,
+      "clamped_pixel_count": 8942
+    },
+    {
+      "video_frame_idx": 45,
+      "frame_index": 45,
+      "clamped_pixel_count": 9276
+    },
+    {
+      "video_frame_idx": 46,
+      "frame_index": 46,
+      "clamped_pixel_count": 8806
+    },
+    {
+      "video_frame_idx": 47,
+      "frame_index": 47,
+      "clamped_pixel_count": 8040
+    },
+    {
+      "video_frame_idx": 48,
+      "frame_index": 48,
+      "clamped_pixel_count": 4289
+    },
+    {
+      "video_frame_idx": 49,
+      "frame_index": 49,
+      "clamped_pixel_count": 898
+    },
+    {
+      "video_frame_idx": 50,
+      "frame_index": 50,
+      "clamped_pixel_count": 298
+    },
+    {
+      "video_frame_idx": 51,
+      "frame_index": 51,
+      "clamped_pixel_count": 20
+    },
+    {
+      "video_frame_idx": 52,
+      "frame_index": 52,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 53,
+      "frame_index": 53,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 54,
+      "frame_index": 54,
+      "clamped_pixel_count": 48
+    },
+    {
+      "video_frame_idx": 55,
+      "frame_index": 55,
+      "clamped_pixel_count": 113
+    },
+    {
+      "video_frame_idx": 56,
+      "frame_index": 56,
+      "clamped_pixel_count": 41
+    },
+    {
+      "video_frame_idx": 57,
+      "frame_index": 57,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 58,
+      "frame_index": 58,
+      "clamped_pixel_count": 230
+    },
+    {
+      "video_frame_idx": 59,
+      "frame_index": 59,
+      "clamped_pixel_count": 548
+    },
+    {
+      "video_frame_idx": 60,
+      "frame_index": 60,
+      "clamped_pixel_count": 852
+    },
+    {
+      "video_frame_idx": 61,
+      "frame_index": 61,
+      "clamped_pixel_count": 867
+    },
+    {
+      "video_frame_idx": 62,
+      "frame_index": 62,
+      "clamped_pixel_count": 743
+    },
+    {
+      "video_frame_idx": 63,
+      "frame_index": 63,
+      "clamped_pixel_count": 741
+    },
+    {
+      "video_frame_idx": 64,
+      "frame_index": 64,
+      "clamped_pixel_count": 1950
+    },
+    {
+      "video_frame_idx": 65,
+      "frame_index": 65,
+      "clamped_pixel_count": 1249
+    },
+    {
+      "video_frame_idx": 66,
+      "frame_index": 66,
+      "clamped_pixel_count": 1309
+    },
+    {
+      "video_frame_idx": 67,
+      "frame_index": 67,
+      "clamped_pixel_count": 1766
+    },
+    {
+      "video_frame_idx": 68,
+      "frame_index": 68,
+      "clamped_pixel_count": 1769
+    },
+    {
+      "video_frame_idx": 69,
+      "frame_index": 69,
+      "clamped_pixel_count": 1502
+    },
+    {
+      "video_frame_idx": 70,
+      "frame_index": 70,
+      "clamped_pixel_count": 1377
+    },
+    {
+      "video_frame_idx": 71,
+      "frame_index": 71,
+      "clamped_pixel_count": 2326
+    },
+    {
+      "video_frame_idx": 72,
+      "frame_index": 72,
+      "clamped_pixel_count": 994
+    },
+    {
+      "video_frame_idx": 73,
+      "frame_index": 73,
+      "clamped_pixel_count": 1558
+    },
+    {
+      "video_frame_idx": 74,
+      "frame_index": 74,
+      "clamped_pixel_count": 2374
+    },
+    {
+      "video_frame_idx": 75,
+      "frame_index": 75,
+      "clamped_pixel_count": 818
+    },
+    {
+      "video_frame_idx": 76,
+      "frame_index": 76,
+      "clamped_pixel_count": 371
+    },
+    {
+      "video_frame_idx": 77,
+      "frame_index": 77,
+      "clamped_pixel_count": 180
+    },
+    {
+      "video_frame_idx": 78,
+      "frame_index": 78,
+      "clamped_pixel_count": 965
+    },
+    {
+      "video_frame_idx": 79,
+      "frame_index": 79,
+      "clamped_pixel_count": 2567
+    },
+    {
+      "video_frame_idx": 80,
+      "frame_index": 80,
+      "clamped_pixel_count": 1693
+    },
+    {
+      "video_frame_idx": 81,
+      "frame_index": 81,
+      "clamped_pixel_count": 207
+    },
+    {
+      "video_frame_idx": 82,
+      "frame_index": 82,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 83,
+      "frame_index": 83,
+      "clamped_pixel_count": 2523
+    },
+    {
+      "video_frame_idx": 84,
+      "frame_index": 84,
+      "clamped_pixel_count": 1631
+    },
+    {
+      "video_frame_idx": 85,
+      "frame_index": 85,
+      "clamped_pixel_count": 3995
+    },
+    {
+      "video_frame_idx": 86,
+      "frame_index": 86,
+      "clamped_pixel_count": 2538
+    },
+    {
+      "video_frame_idx": 87,
+      "frame_index": 87,
+      "clamped_pixel_count": 3265
+    },
+    {
+      "video_frame_idx": 88,
+      "frame_index": 88,
+      "clamped_pixel_count": 3043
+    },
+    {
+      "video_frame_idx": 89,
+      "frame_index": 89,
+      "clamped_pixel_count": 3958
+    },
+    {
+      "video_frame_idx": 90,
+      "frame_index": 90,
+      "clamped_pixel_count": 2670
+    },
+    {
+      "video_frame_idx": 91,
+      "frame_index": 91,
+      "clamped_pixel_count": 2571
+    },
+    {
+      "video_frame_idx": 92,
+      "frame_index": 92,
+      "clamped_pixel_count": 3300
+    },
+    {
+      "video_frame_idx": 93,
+      "frame_index": 93,
+      "clamped_pixel_count": 3112
+    },
+    {
+      "video_frame_idx": 94,
+      "frame_index": 94,
+      "clamped_pixel_count": 2904
+    },
+    {
+      "video_frame_idx": 95,
+      "frame_index": 95,
+      "clamped_pixel_count": 2226
+    },
+    {
+      "video_frame_idx": 96,
+      "frame_index": 96,
+      "clamped_pixel_count": 4241
+    },
+    {
+      "video_frame_idx": 97,
+      "frame_index": 97,
+      "clamped_pixel_count": 2350
+    },
+    {
+      "video_frame_idx": 98,
+      "frame_index": 98,
+      "clamped_pixel_count": 3709
+    },
+    {
+      "video_frame_idx": 99,
+      "frame_index": 99,
+      "clamped_pixel_count": 3173
+    },
+    {
+      "video_frame_idx": 100,
+      "frame_index": 100,
+      "clamped_pixel_count": 8911
+    },
+    {
+      "video_frame_idx": 101,
+      "frame_index": 101,
+      "clamped_pixel_count": 5521
+    },
+    {
+      "video_frame_idx": 102,
+      "frame_index": 102,
+      "clamped_pixel_count": 8751
+    },
+    {
+      "video_frame_idx": 103,
+      "frame_index": 103,
+      "clamped_pixel_count": 8257
+    },
+    {
+      "video_frame_idx": 104,
+      "frame_index": 104,
+      "clamped_pixel_count": 7919
+    },
+    {
+      "video_frame_idx": 105,
+      "frame_index": 105,
+      "clamped_pixel_count": 8268
+    },
+    {
+      "video_frame_idx": 106,
+      "frame_index": 106,
+      "clamped_pixel_count": 8119
+    },
+    {
+      "video_frame_idx": 107,
+      "frame_index": 107,
+      "clamped_pixel_count": 7573
+    },
+    {
+      "video_frame_idx": 108,
+      "frame_index": 108,
+      "clamped_pixel_count": 6873
+    },
+    {
+      "video_frame_idx": 109,
+      "frame_index": 109,
+      "clamped_pixel_count": 6357
+    },
+    {
+      "video_frame_idx": 110,
+      "frame_index": 110,
+      "clamped_pixel_count": 5821
+    },
+    {
+      "video_frame_idx": 111,
+      "frame_index": 111,
+      "clamped_pixel_count": 4610
+    },
+    {
+      "video_frame_idx": 112,
+      "frame_index": 112,
+      "clamped_pixel_count": 4811
+    },
+    {
+      "video_frame_idx": 113,
+      "frame_index": 113,
+      "clamped_pixel_count": 3772
+    },
+    {
+      "video_frame_idx": 114,
+      "frame_index": 114,
+      "clamped_pixel_count": 7120
+    },
+    {
+      "video_frame_idx": 115,
+      "frame_index": 115,
+      "clamped_pixel_count": 7295
+    },
+    {
+      "video_frame_idx": 116,
+      "frame_index": 116,
+      "clamped_pixel_count": 6143
+    },
+    {
+      "video_frame_idx": 117,
+      "frame_index": 117,
+      "clamped_pixel_count": 5706
+    },
+    {
+      "video_frame_idx": 118,
+      "frame_index": 118,
+      "clamped_pixel_count": 5043
+    },
+    {
+      "video_frame_idx": 119,
+      "frame_index": 119,
+      "clamped_pixel_count": 4553
+    },
+    {
+      "video_frame_idx": 120,
+      "frame_index": 120,
+      "clamped_pixel_count": 3981
+    },
+    {
+      "video_frame_idx": 121,
+      "frame_index": 121,
+      "clamped_pixel_count": 4409
+    },
+    {
+      "video_frame_idx": 122,
+      "frame_index": 122,
+      "clamped_pixel_count": 5034
+    },
+    {
+      "video_frame_idx": 123,
+      "frame_index": 123,
+      "clamped_pixel_count": 4602
+    },
+    {
+      "video_frame_idx": 124,
+      "frame_index": 124,
+      "clamped_pixel_count": 4804
+    },
+    {
+      "video_frame_idx": 125,
+      "frame_index": 125,
+      "clamped_pixel_count": 6538
+    },
+    {
+      "video_frame_idx": 126,
+      "frame_index": 126,
+      "clamped_pixel_count": 6744
+    },
+    {
+      "video_frame_idx": 127,
+      "frame_index": 127,
+      "clamped_pixel_count": 7495
+    },
+    {
+      "video_frame_idx": 128,
+      "frame_index": 128,
+      "clamped_pixel_count": 7214
+    },
+    {
+      "video_frame_idx": 129,
+      "frame_index": 129,
+      "clamped_pixel_count": 7774
+    },
+    {
+      "video_frame_idx": 130,
+      "frame_index": 130,
+      "clamped_pixel_count": 6650
+    },
+    {
+      "video_frame_idx": 131,
+      "frame_index": 131,
+      "clamped_pixel_count": 4949
+    },
+    {
+      "video_frame_idx": 132,
+      "frame_index": 132,
+      "clamped_pixel_count": 2968
+    },
+    {
+      "video_frame_idx": 133,
+      "frame_index": 133,
+      "clamped_pixel_count": 6083
+    },
+    {
+      "video_frame_idx": 134,
+      "frame_index": 134,
+      "clamped_pixel_count": 6904
+    },
+    {
+      "video_frame_idx": 135,
+      "frame_index": 135,
+      "clamped_pixel_count": 5615
+    },
+    {
+      "video_frame_idx": 136,
+      "frame_index": 136,
+      "clamped_pixel_count": 6342
+    },
+    {
+      "video_frame_idx": 137,
+      "frame_index": 137,
+      "clamped_pixel_count": 6258
+    },
+    {
+      "video_frame_idx": 138,
+      "frame_index": 138,
+      "clamped_pixel_count": 6204
+    },
+    {
+      "video_frame_idx": 139,
+      "frame_index": 139,
+      "clamped_pixel_count": 7147
+    },
+    {
+      "video_frame_idx": 140,
+      "frame_index": 140,
+      "clamped_pixel_count": 6205
+    },
+    {
+      "video_frame_idx": 141,
+      "frame_index": 141,
+      "clamped_pixel_count": 6359
+    },
+    {
+      "video_frame_idx": 142,
+      "frame_index": 142,
+      "clamped_pixel_count": 7413
+    },
+    {
+      "video_frame_idx": 143,
+      "frame_index": 143,
+      "clamped_pixel_count": 5041
+    },
+    {
+      "video_frame_idx": 144,
+      "frame_index": 144,
+      "clamped_pixel_count": 5361
+    },
+    {
+      "video_frame_idx": 145,
+      "frame_index": 145,
+      "clamped_pixel_count": 6484
+    },
+    {
+      "video_frame_idx": 146,
+      "frame_index": 146,
+      "clamped_pixel_count": 5681
+    },
+    {
+      "video_frame_idx": 147,
+      "frame_index": 147,
+      "clamped_pixel_count": 4878
+    },
+    {
+      "video_frame_idx": 148,
+      "frame_index": 148,
+      "clamped_pixel_count": 3560
+    },
+    {
+      "video_frame_idx": 149,
+      "frame_index": 149,
+      "clamped_pixel_count": 2998
+    },
+    {
+      "video_frame_idx": 150,
+      "frame_index": 150,
+      "clamped_pixel_count": 2469
+    },
+    {
+      "video_frame_idx": 151,
+      "frame_index": 151,
+      "clamped_pixel_count": 2387
+    },
+    {
+      "video_frame_idx": 152,
+      "frame_index": 152,
+      "clamped_pixel_count": 1810
+    },
+    {
+      "video_frame_idx": 153,
+      "frame_index": 153,
+      "clamped_pixel_count": 1605
+    },
+    {
+      "video_frame_idx": 154,
+      "frame_index": 154,
+      "clamped_pixel_count": 2657
+    },
+    {
+      "video_frame_idx": 155,
+      "frame_index": 155,
+      "clamped_pixel_count": 1844
+    },
+    {
+      "video_frame_idx": 156,
+      "frame_index": 156,
+      "clamped_pixel_count": 3493
+    },
+    {
+      "video_frame_idx": 157,
+      "frame_index": 157,
+      "clamped_pixel_count": 1968
+    },
+    {
+      "video_frame_idx": 158,
+      "frame_index": 158,
+      "clamped_pixel_count": 1913
+    },
+    {
+      "video_frame_idx": 159,
+      "frame_index": 159,
+      "clamped_pixel_count": 2359
+    },
+    {
+      "video_frame_idx": 160,
+      "frame_index": 160,
+      "clamped_pixel_count": 2578
+    },
+    {
+      "video_frame_idx": 161,
+      "frame_index": 161,
+      "clamped_pixel_count": 2039
+    },
+    {
+      "video_frame_idx": 162,
+      "frame_index": 162,
+      "clamped_pixel_count": 3581
+    },
+    {
+      "video_frame_idx": 163,
+      "frame_index": 163,
+      "clamped_pixel_count": 2016
+    },
+    {
+      "video_frame_idx": 164,
+      "frame_index": 164,
+      "clamped_pixel_count": 4031
+    },
+    {
+      "video_frame_idx": 165,
+      "frame_index": 165,
+      "clamped_pixel_count": 1562
+    },
+    {
+      "video_frame_idx": 166,
+      "frame_index": 166,
+      "clamped_pixel_count": 1351
+    },
+    {
+      "video_frame_idx": 167,
+      "frame_index": 167,
+      "clamped_pixel_count": 769
+    },
+    {
+      "video_frame_idx": 168,
+      "frame_index": 168,
+      "clamped_pixel_count": 272
+    },
+    {
+      "video_frame_idx": 169,
+      "frame_index": 169,
+      "clamped_pixel_count": 1244
+    },
+    {
+      "video_frame_idx": 170,
+      "frame_index": 170,
+      "clamped_pixel_count": 751
+    },
+    {
+      "video_frame_idx": 171,
+      "frame_index": 171,
+      "clamped_pixel_count": 1257
+    },
+    {
+      "video_frame_idx": 172,
+      "frame_index": 172,
+      "clamped_pixel_count": 520
+    },
+    {
+      "video_frame_idx": 173,
+      "frame_index": 173,
+      "clamped_pixel_count": 1220
+    },
+    {
+      "video_frame_idx": 174,
+      "frame_index": 174,
+      "clamped_pixel_count": 1474
+    },
+    {
+      "video_frame_idx": 175,
+      "frame_index": 175,
+      "clamped_pixel_count": 48
+    },
+    {
+      "video_frame_idx": 177,
+      "frame_index": 177,
+      "clamped_pixel_count": 1829
+    },
+    {
+      "video_frame_idx": 178,
+      "frame_index": 178,
+      "clamped_pixel_count": 1606
+    },
+    {
+      "video_frame_idx": 179,
+      "frame_index": 179,
+      "clamped_pixel_count": 991
+    },
+    {
+      "video_frame_idx": 180,
+      "frame_index": 180,
+      "clamped_pixel_count": 60
+    },
+    {
+      "video_frame_idx": 181,
+      "frame_index": 181,
+      "clamped_pixel_count": 1641
+    },
+    {
+      "video_frame_idx": 182,
+      "frame_index": 182,
+      "clamped_pixel_count": 2085
+    },
+    {
+      "video_frame_idx": 183,
+      "frame_index": 183,
+      "clamped_pixel_count": 2953
+    },
+    {
+      "video_frame_idx": 184,
+      "frame_index": 184,
+      "clamped_pixel_count": 4367
+    },
+    {
+      "video_frame_idx": 185,
+      "frame_index": 185,
+      "clamped_pixel_count": 4423
+    },
+    {
+      "video_frame_idx": 186,
+      "frame_index": 186,
+      "clamped_pixel_count": 5282
+    },
+    {
+      "video_frame_idx": 187,
+      "frame_index": 187,
+      "clamped_pixel_count": 4711
+    },
+    {
+      "video_frame_idx": 188,
+      "frame_index": 188,
+      "clamped_pixel_count": 3797
+    },
+    {
+      "video_frame_idx": 189,
+      "frame_index": 189,
+      "clamped_pixel_count": 5513
+    },
+    {
+      "video_frame_idx": 190,
+      "frame_index": 190,
+      "clamped_pixel_count": 3980
+    },
+    {
+      "video_frame_idx": 191,
+      "frame_index": 191,
+      "clamped_pixel_count": 2186
+    },
+    {
+      "video_frame_idx": 192,
+      "frame_index": 192,
+      "clamped_pixel_count": 1775
+    },
+    {
+      "video_frame_idx": 193,
+      "frame_index": 193,
+      "clamped_pixel_count": 1824
+    },
+    {
+      "video_frame_idx": 194,
+      "frame_index": 194,
+      "clamped_pixel_count": 1827
+    },
+    {
+      "video_frame_idx": 195,
+      "frame_index": 195,
+      "clamped_pixel_count": 1013
+    },
+    {
+      "video_frame_idx": 196,
+      "frame_index": 196,
+      "clamped_pixel_count": 989
+    },
+    {
+      "video_frame_idx": 197,
+      "frame_index": 197,
+      "clamped_pixel_count": 1543
+    },
+    {
+      "video_frame_idx": 198,
+      "frame_index": 198,
+      "clamped_pixel_count": 4215
+    },
+    {
+      "video_frame_idx": 199,
+      "frame_index": 199,
+      "clamped_pixel_count": 4184
+    },
+    {
+      "video_frame_idx": 200,
+      "frame_index": 200,
+      "clamped_pixel_count": 4377
+    },
+    {
+      "video_frame_idx": 201,
+      "frame_index": 201,
+      "clamped_pixel_count": 3812
+    },
+    {
+      "video_frame_idx": 202,
+      "frame_index": 202,
+      "clamped_pixel_count": 3099
+    },
+    {
+      "video_frame_idx": 203,
+      "frame_index": 203,
+      "clamped_pixel_count": 3221
+    },
+    {
+      "video_frame_idx": 204,
+      "frame_index": 204,
+      "clamped_pixel_count": 2636
+    },
+    {
+      "video_frame_idx": 205,
+      "frame_index": 205,
+      "clamped_pixel_count": 3764
+    },
+    {
+      "video_frame_idx": 206,
+      "frame_index": 206,
+      "clamped_pixel_count": 2893
+    },
+    {
+      "video_frame_idx": 207,
+      "frame_index": 207,
+      "clamped_pixel_count": 3559
+    },
+    {
+      "video_frame_idx": 208,
+      "frame_index": 208,
+      "clamped_pixel_count": 2443
+    },
+    {
+      "video_frame_idx": 209,
+      "frame_index": 209,
+      "clamped_pixel_count": 2405
+    },
+    {
+      "video_frame_idx": 210,
+      "frame_index": 210,
+      "clamped_pixel_count": 354
+    },
+    {
+      "video_frame_idx": 211,
+      "frame_index": 211,
+      "clamped_pixel_count": 1144
+    },
+    {
+      "video_frame_idx": 212,
+      "frame_index": 212,
+      "clamped_pixel_count": 3751
+    },
+    {
+      "video_frame_idx": 213,
+      "frame_index": 213,
+      "clamped_pixel_count": 23668
+    },
+    {
+      "video_frame_idx": 214,
+      "frame_index": 214,
+      "clamped_pixel_count": 16646
+    },
+    {
+      "video_frame_idx": 215,
+      "frame_index": 215,
+      "clamped_pixel_count": 24792
+    },
+    {
+      "video_frame_idx": 216,
+      "frame_index": 216,
+      "clamped_pixel_count": 22162
+    },
+    {
+      "video_frame_idx": 217,
+      "frame_index": 217,
+      "clamped_pixel_count": 14708
+    },
+    {
+      "video_frame_idx": 218,
+      "frame_index": 218,
+      "clamped_pixel_count": 15506
+    },
+    {
+      "video_frame_idx": 219,
+      "frame_index": 219,
+      "clamped_pixel_count": 5353
+    },
+    {
+      "video_frame_idx": 220,
+      "frame_index": 220,
+      "clamped_pixel_count": 2935
+    },
+    {
+      "video_frame_idx": 221,
+      "frame_index": 221,
+      "clamped_pixel_count": 608
+    },
+    {
+      "video_frame_idx": 225,
+      "frame_index": 225,
+      "clamped_pixel_count": 919
+    },
+    {
+      "video_frame_idx": 226,
+      "frame_index": 226,
+      "clamped_pixel_count": 34
+    },
+    {
+      "video_frame_idx": 227,
+      "frame_index": 227,
+      "clamped_pixel_count": 7742
+    },
+    {
+      "video_frame_idx": 228,
+      "frame_index": 228,
+      "clamped_pixel_count": 2926
+    },
+    {
+      "video_frame_idx": 229,
+      "frame_index": 229,
+      "clamped_pixel_count": 1467
+    },
+    {
+      "video_frame_idx": 230,
+      "frame_index": 230,
+      "clamped_pixel_count": 630
+    },
+    {
+      "video_frame_idx": 231,
+      "frame_index": 231,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 232,
+      "frame_index": 232,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 233,
+      "frame_index": 233,
+      "clamped_pixel_count": 43
+    },
+    {
+      "video_frame_idx": 234,
+      "frame_index": 234,
+      "clamped_pixel_count": 435
+    },
+    {
+      "video_frame_idx": 235,
+      "frame_index": 235,
+      "clamped_pixel_count": 215
+    },
+    {
+      "video_frame_idx": 236,
+      "frame_index": 236,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 237,
+      "frame_index": 237,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 238,
+      "frame_index": 238,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 239,
+      "frame_index": 239,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 249,
+      "frame_index": 249,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 250,
+      "frame_index": 250,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 276,
+      "frame_index": 276,
+      "clamped_pixel_count": 35
+    },
+    {
+      "video_frame_idx": 289,
+      "frame_index": 289,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 290,
+      "frame_index": 290,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 299,
+      "frame_index": 299,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 480,
+      "frame_index": 480,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1404,
+      "frame_index": 1404,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1405,
+      "frame_index": 1405,
+      "clamped_pixel_count": 2411
+    },
+    {
+      "video_frame_idx": 1408,
+      "frame_index": 1408,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 1409,
+      "frame_index": 1409,
+      "clamped_pixel_count": 6342
+    },
+    {
+      "video_frame_idx": 1410,
+      "frame_index": 1410,
+      "clamped_pixel_count": 6472
+    },
+    {
+      "video_frame_idx": 1411,
+      "frame_index": 1411,
+      "clamped_pixel_count": 1514
+    },
+    {
+      "video_frame_idx": 1412,
+      "frame_index": 1412,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1414,
+      "frame_index": 1414,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1415,
+      "frame_index": 1415,
+      "clamped_pixel_count": 1429
+    },
+    {
+      "video_frame_idx": 1426,
+      "frame_index": 1426,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1427,
+      "frame_index": 1427,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1428,
+      "frame_index": 1428,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1429,
+      "frame_index": 1429,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1430,
+      "frame_index": 1430,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1431,
+      "frame_index": 1431,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1432,
+      "frame_index": 1432,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1434,
+      "frame_index": 1434,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1436,
+      "frame_index": 1436,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1437,
+      "frame_index": 1437,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1438,
+      "frame_index": 1438,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1439,
+      "frame_index": 1439,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1440,
+      "frame_index": 1440,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1442,
+      "frame_index": 1442,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1443,
+      "frame_index": 1443,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1444,
+      "frame_index": 1444,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1445,
+      "frame_index": 1445,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1446,
+      "frame_index": 1446,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 1447,
+      "frame_index": 1447,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1448,
+      "frame_index": 1448,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 1449,
+      "frame_index": 1449,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 1452,
+      "frame_index": 1452,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1453,
+      "frame_index": 1453,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1454,
+      "frame_index": 1454,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1456,
+      "frame_index": 1456,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1458,
+      "frame_index": 1458,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1459,
+      "frame_index": 1459,
+      "clamped_pixel_count": 27
+    },
+    {
+      "video_frame_idx": 1460,
+      "frame_index": 1460,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1461,
+      "frame_index": 1461,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1462,
+      "frame_index": 1462,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1467,
+      "frame_index": 1467,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1482,
+      "frame_index": 1482,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1484,
+      "frame_index": 1484,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1485,
+      "frame_index": 1485,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1486,
+      "frame_index": 1486,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1489,
+      "frame_index": 1489,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1496,
+      "frame_index": 1496,
+      "clamped_pixel_count": 362
+    },
+    {
+      "video_frame_idx": 1497,
+      "frame_index": 1497,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1499,
+      "frame_index": 1499,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1500,
+      "frame_index": 1500,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 1501,
+      "frame_index": 1501,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 1502,
+      "frame_index": 1502,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1503,
+      "frame_index": 1503,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 1504,
+      "frame_index": 1504,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1506,
+      "frame_index": 1506,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1507,
+      "frame_index": 1507,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1509,
+      "frame_index": 1509,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1510,
+      "frame_index": 1510,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1511,
+      "frame_index": 1511,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1514,
+      "frame_index": 1514,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1516,
+      "frame_index": 1516,
+      "clamped_pixel_count": 295
+    },
+    {
+      "video_frame_idx": 1517,
+      "frame_index": 1517,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1518,
+      "frame_index": 1518,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 1519,
+      "frame_index": 1519,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 1520,
+      "frame_index": 1520,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1521,
+      "frame_index": 1521,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1522,
+      "frame_index": 1522,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1525,
+      "frame_index": 1525,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1526,
+      "frame_index": 1526,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 1527,
+      "frame_index": 1527,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1528,
+      "frame_index": 1528,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 1529,
+      "frame_index": 1529,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1531,
+      "frame_index": 1531,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1532,
+      "frame_index": 1532,
+      "clamped_pixel_count": 2676
+    },
+    {
+      "video_frame_idx": 1533,
+      "frame_index": 1533,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1535,
+      "frame_index": 1535,
+      "clamped_pixel_count": 46
+    },
+    {
+      "video_frame_idx": 1536,
+      "frame_index": 1536,
+      "clamped_pixel_count": 28
+    },
+    {
+      "video_frame_idx": 1537,
+      "frame_index": 1537,
+      "clamped_pixel_count": 819
+    },
+    {
+      "video_frame_idx": 1538,
+      "frame_index": 1538,
+      "clamped_pixel_count": 540
+    },
+    {
+      "video_frame_idx": 1539,
+      "frame_index": 1539,
+      "clamped_pixel_count": 328
+    },
+    {
+      "video_frame_idx": 1540,
+      "frame_index": 1540,
+      "clamped_pixel_count": 252
+    },
+    {
+      "video_frame_idx": 1541,
+      "frame_index": 1541,
+      "clamped_pixel_count": 156
+    },
+    {
+      "video_frame_idx": 1542,
+      "frame_index": 1542,
+      "clamped_pixel_count": 31
+    },
+    {
+      "video_frame_idx": 1543,
+      "frame_index": 1543,
+      "clamped_pixel_count": 105
+    },
+    {
+      "video_frame_idx": 1544,
+      "frame_index": 1544,
+      "clamped_pixel_count": 31
+    },
+    {
+      "video_frame_idx": 1545,
+      "frame_index": 1545,
+      "clamped_pixel_count": 182
+    },
+    {
+      "video_frame_idx": 1546,
+      "frame_index": 1546,
+      "clamped_pixel_count": 44
+    },
+    {
+      "video_frame_idx": 1547,
+      "frame_index": 1547,
+      "clamped_pixel_count": 206
+    },
+    {
+      "video_frame_idx": 1548,
+      "frame_index": 1548,
+      "clamped_pixel_count": 84
+    },
+    {
+      "video_frame_idx": 1549,
+      "frame_index": 1549,
+      "clamped_pixel_count": 110
+    },
+    {
+      "video_frame_idx": 1550,
+      "frame_index": 1550,
+      "clamped_pixel_count": 57
+    },
+    {
+      "video_frame_idx": 1551,
+      "frame_index": 1551,
+      "clamped_pixel_count": 116
+    },
+    {
+      "video_frame_idx": 1552,
+      "frame_index": 1552,
+      "clamped_pixel_count": 81
+    },
+    {
+      "video_frame_idx": 1553,
+      "frame_index": 1553,
+      "clamped_pixel_count": 91
+    },
+    {
+      "video_frame_idx": 1554,
+      "frame_index": 1554,
+      "clamped_pixel_count": 36
+    },
+    {
+      "video_frame_idx": 1555,
+      "frame_index": 1555,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1556,
+      "frame_index": 1556,
+      "clamped_pixel_count": 54
+    },
+    {
+      "video_frame_idx": 1557,
+      "frame_index": 1557,
+      "clamped_pixel_count": 43
+    },
+    {
+      "video_frame_idx": 1558,
+      "frame_index": 1558,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 1559,
+      "frame_index": 1559,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 1560,
+      "frame_index": 1560,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 1561,
+      "frame_index": 1561,
+      "clamped_pixel_count": 37
+    },
+    {
+      "video_frame_idx": 1562,
+      "frame_index": 1562,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 1563,
+      "frame_index": 1563,
+      "clamped_pixel_count": 24
+    },
+    {
+      "video_frame_idx": 1564,
+      "frame_index": 1564,
+      "clamped_pixel_count": 33
+    },
+    {
+      "video_frame_idx": 1565,
+      "frame_index": 1565,
+      "clamped_pixel_count": 57
+    },
+    {
+      "video_frame_idx": 1566,
+      "frame_index": 1566,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1567,
+      "frame_index": 1567,
+      "clamped_pixel_count": 233
+    },
+    {
+      "video_frame_idx": 1568,
+      "frame_index": 1568,
+      "clamped_pixel_count": 334
+    },
+    {
+      "video_frame_idx": 1569,
+      "frame_index": 1569,
+      "clamped_pixel_count": 342
+    },
+    {
+      "video_frame_idx": 1570,
+      "frame_index": 1570,
+      "clamped_pixel_count": 67
+    },
+    {
+      "video_frame_idx": 1571,
+      "frame_index": 1571,
+      "clamped_pixel_count": 23
+    },
+    {
+      "video_frame_idx": 1572,
+      "frame_index": 1572,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 1573,
+      "frame_index": 1573,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 1574,
+      "frame_index": 1574,
+      "clamped_pixel_count": 21
+    },
+    {
+      "video_frame_idx": 1575,
+      "frame_index": 1575,
+      "clamped_pixel_count": 19
+    },
+    {
+      "video_frame_idx": 1576,
+      "frame_index": 1576,
+      "clamped_pixel_count": 222
+    },
+    {
+      "video_frame_idx": 1577,
+      "frame_index": 1577,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 1579,
+      "frame_index": 1579,
+      "clamped_pixel_count": 77
+    },
+    {
+      "video_frame_idx": 1580,
+      "frame_index": 1580,
+      "clamped_pixel_count": 52
+    },
+    {
+      "video_frame_idx": 1581,
+      "frame_index": 1581,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1582,
+      "frame_index": 1582,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1583,
+      "frame_index": 1583,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 1584,
+      "frame_index": 1584,
+      "clamped_pixel_count": 82
+    },
+    {
+      "video_frame_idx": 1585,
+      "frame_index": 1585,
+      "clamped_pixel_count": 97
+    },
+    {
+      "video_frame_idx": 1586,
+      "frame_index": 1586,
+      "clamped_pixel_count": 159
+    },
+    {
+      "video_frame_idx": 1587,
+      "frame_index": 1587,
+      "clamped_pixel_count": 165
+    },
+    {
+      "video_frame_idx": 1588,
+      "frame_index": 1588,
+      "clamped_pixel_count": 50
+    },
+    {
+      "video_frame_idx": 1589,
+      "frame_index": 1589,
+      "clamped_pixel_count": 358
+    },
+    {
+      "video_frame_idx": 1590,
+      "frame_index": 1590,
+      "clamped_pixel_count": 157
+    },
+    {
+      "video_frame_idx": 1591,
+      "frame_index": 1591,
+      "clamped_pixel_count": 167
+    },
+    {
+      "video_frame_idx": 1592,
+      "frame_index": 1592,
+      "clamped_pixel_count": 811
+    },
+    {
+      "video_frame_idx": 1593,
+      "frame_index": 1593,
+      "clamped_pixel_count": 583
+    },
+    {
+      "video_frame_idx": 1594,
+      "frame_index": 1594,
+      "clamped_pixel_count": 560
+    },
+    {
+      "video_frame_idx": 1595,
+      "frame_index": 1595,
+      "clamped_pixel_count": 228
+    },
+    {
+      "video_frame_idx": 1596,
+      "frame_index": 1596,
+      "clamped_pixel_count": 263
+    },
+    {
+      "video_frame_idx": 1597,
+      "frame_index": 1597,
+      "clamped_pixel_count": 291
+    },
+    {
+      "video_frame_idx": 1598,
+      "frame_index": 1598,
+      "clamped_pixel_count": 367
+    },
+    {
+      "video_frame_idx": 1599,
+      "frame_index": 1599,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1600,
+      "frame_index": 1600,
+      "clamped_pixel_count": 253
+    },
+    {
+      "video_frame_idx": 1601,
+      "frame_index": 1601,
+      "clamped_pixel_count": 175
+    },
+    {
+      "video_frame_idx": 1602,
+      "frame_index": 1602,
+      "clamped_pixel_count": 50
+    },
+    {
+      "video_frame_idx": 1603,
+      "frame_index": 1603,
+      "clamped_pixel_count": 593
+    },
+    {
+      "video_frame_idx": 1604,
+      "frame_index": 1604,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1605,
+      "frame_index": 1605,
+      "clamped_pixel_count": 46
+    },
+    {
+      "video_frame_idx": 1606,
+      "frame_index": 1606,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1607,
+      "frame_index": 1607,
+      "clamped_pixel_count": 48
+    },
+    {
+      "video_frame_idx": 1608,
+      "frame_index": 1608,
+      "clamped_pixel_count": 597
+    },
+    {
+      "video_frame_idx": 1609,
+      "frame_index": 1609,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1611,
+      "frame_index": 1611,
+      "clamped_pixel_count": 142
+    },
+    {
+      "video_frame_idx": 1612,
+      "frame_index": 1612,
+      "clamped_pixel_count": 603
+    },
+    {
+      "video_frame_idx": 1613,
+      "frame_index": 1613,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 1614,
+      "frame_index": 1614,
+      "clamped_pixel_count": 165
+    },
+    {
+      "video_frame_idx": 1616,
+      "frame_index": 1616,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 1617,
+      "frame_index": 1617,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1618,
+      "frame_index": 1618,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1619,
+      "frame_index": 1619,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1620,
+      "frame_index": 1620,
+      "clamped_pixel_count": 42
+    },
+    {
+      "video_frame_idx": 1621,
+      "frame_index": 1621,
+      "clamped_pixel_count": 10
+    },
+    {
+      "video_frame_idx": 1622,
+      "frame_index": 1622,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1623,
+      "frame_index": 1623,
+      "clamped_pixel_count": 18
+    },
+    {
+      "video_frame_idx": 1625,
+      "frame_index": 1625,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 1626,
+      "frame_index": 1626,
+      "clamped_pixel_count": 17
+    },
+    {
+      "video_frame_idx": 1627,
+      "frame_index": 1627,
+      "clamped_pixel_count": 11
+    },
+    {
+      "video_frame_idx": 1628,
+      "frame_index": 1628,
+      "clamped_pixel_count": 1476
+    },
+    {
+      "video_frame_idx": 1629,
+      "frame_index": 1629,
+      "clamped_pixel_count": 1799
+    },
+    {
+      "video_frame_idx": 1630,
+      "frame_index": 1630,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1631,
+      "frame_index": 1631,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1632,
+      "frame_index": 1632,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1633,
+      "frame_index": 1633,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1634,
+      "frame_index": 1634,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1635,
+      "frame_index": 1635,
+      "clamped_pixel_count": 390
+    },
+    {
+      "video_frame_idx": 1636,
+      "frame_index": 1636,
+      "clamped_pixel_count": 940
+    },
+    {
+      "video_frame_idx": 1637,
+      "frame_index": 1637,
+      "clamped_pixel_count": 98
+    },
+    {
+      "video_frame_idx": 1638,
+      "frame_index": 1638,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1639,
+      "frame_index": 1639,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 1640,
+      "frame_index": 1640,
+      "clamped_pixel_count": 28
+    },
+    {
+      "video_frame_idx": 1641,
+      "frame_index": 1641,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 1642,
+      "frame_index": 1642,
+      "clamped_pixel_count": 1030
+    },
+    {
+      "video_frame_idx": 1643,
+      "frame_index": 1643,
+      "clamped_pixel_count": 1352
+    },
+    {
+      "video_frame_idx": 1644,
+      "frame_index": 1644,
+      "clamped_pixel_count": 1575
+    },
+    {
+      "video_frame_idx": 1645,
+      "frame_index": 1645,
+      "clamped_pixel_count": 670
+    },
+    {
+      "video_frame_idx": 1646,
+      "frame_index": 1646,
+      "clamped_pixel_count": 743
+    },
+    {
+      "video_frame_idx": 1647,
+      "frame_index": 1647,
+      "clamped_pixel_count": 126
+    },
+    {
+      "video_frame_idx": 1648,
+      "frame_index": 1648,
+      "clamped_pixel_count": 645
+    },
+    {
+      "video_frame_idx": 1649,
+      "frame_index": 1649,
+      "clamped_pixel_count": 377
+    },
+    {
+      "video_frame_idx": 1650,
+      "frame_index": 1650,
+      "clamped_pixel_count": 274
+    },
+    {
+      "video_frame_idx": 1652,
+      "frame_index": 1652,
+      "clamped_pixel_count": 1345
+    },
+    {
+      "video_frame_idx": 1653,
+      "frame_index": 1653,
+      "clamped_pixel_count": 633
+    },
+    {
+      "video_frame_idx": 1654,
+      "frame_index": 1654,
+      "clamped_pixel_count": 1591
+    },
+    {
+      "video_frame_idx": 1655,
+      "frame_index": 1655,
+      "clamped_pixel_count": 1764
+    },
+    {
+      "video_frame_idx": 1656,
+      "frame_index": 1656,
+      "clamped_pixel_count": 3737
+    },
+    {
+      "video_frame_idx": 1657,
+      "frame_index": 1657,
+      "clamped_pixel_count": 4593
+    },
+    {
+      "video_frame_idx": 1658,
+      "frame_index": 1658,
+      "clamped_pixel_count": 1262
+    },
+    {
+      "video_frame_idx": 1659,
+      "frame_index": 1659,
+      "clamped_pixel_count": 1082
+    },
+    {
+      "video_frame_idx": 1660,
+      "frame_index": 1660,
+      "clamped_pixel_count": 515
+    },
+    {
+      "video_frame_idx": 1661,
+      "frame_index": 1661,
+      "clamped_pixel_count": 345
+    },
+    {
+      "video_frame_idx": 1662,
+      "frame_index": 1662,
+      "clamped_pixel_count": 1131
+    },
+    {
+      "video_frame_idx": 1663,
+      "frame_index": 1663,
+      "clamped_pixel_count": 889
+    },
+    {
+      "video_frame_idx": 1664,
+      "frame_index": 1664,
+      "clamped_pixel_count": 667
+    },
+    {
+      "video_frame_idx": 1665,
+      "frame_index": 1665,
+      "clamped_pixel_count": 1301
+    },
+    {
+      "video_frame_idx": 1666,
+      "frame_index": 1666,
+      "clamped_pixel_count": 1657
+    },
+    {
+      "video_frame_idx": 1667,
+      "frame_index": 1667,
+      "clamped_pixel_count": 704
+    },
+    {
+      "video_frame_idx": 1668,
+      "frame_index": 1668,
+      "clamped_pixel_count": 99
+    },
+    {
+      "video_frame_idx": 1669,
+      "frame_index": 1669,
+      "clamped_pixel_count": 382
+    },
+    {
+      "video_frame_idx": 1671,
+      "frame_index": 1671,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1673,
+      "frame_index": 1673,
+      "clamped_pixel_count": 1724
+    },
+    {
+      "video_frame_idx": 1674,
+      "frame_index": 1674,
+      "clamped_pixel_count": 5323
+    },
+    {
+      "video_frame_idx": 1675,
+      "frame_index": 1675,
+      "clamped_pixel_count": 2929
+    },
+    {
+      "video_frame_idx": 1676,
+      "frame_index": 1676,
+      "clamped_pixel_count": 552
+    },
+    {
+      "video_frame_idx": 1677,
+      "frame_index": 1677,
+      "clamped_pixel_count": 813
+    },
+    {
+      "video_frame_idx": 1678,
+      "frame_index": 1678,
+      "clamped_pixel_count": 5604
+    },
+    {
+      "video_frame_idx": 1679,
+      "frame_index": 1679,
+      "clamped_pixel_count": 8100
+    },
+    {
+      "video_frame_idx": 1680,
+      "frame_index": 1680,
+      "clamped_pixel_count": 1770
+    },
+    {
+      "video_frame_idx": 1681,
+      "frame_index": 1681,
+      "clamped_pixel_count": 3468
+    },
+    {
+      "video_frame_idx": 1682,
+      "frame_index": 1682,
+      "clamped_pixel_count": 438
+    },
+    {
+      "video_frame_idx": 1683,
+      "frame_index": 1683,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1684,
+      "frame_index": 1684,
+      "clamped_pixel_count": 685
+    },
+    {
+      "video_frame_idx": 1685,
+      "frame_index": 1685,
+      "clamped_pixel_count": 1477
+    },
+    {
+      "video_frame_idx": 1686,
+      "frame_index": 1686,
+      "clamped_pixel_count": 1937
+    },
+    {
+      "video_frame_idx": 1687,
+      "frame_index": 1687,
+      "clamped_pixel_count": 113
+    },
+    {
+      "video_frame_idx": 1688,
+      "frame_index": 1688,
+      "clamped_pixel_count": 495
+    },
+    {
+      "video_frame_idx": 1689,
+      "frame_index": 1689,
+      "clamped_pixel_count": 5484
+    },
+    {
+      "video_frame_idx": 1690,
+      "frame_index": 1690,
+      "clamped_pixel_count": 16453
+    },
+    {
+      "video_frame_idx": 1691,
+      "frame_index": 1691,
+      "clamped_pixel_count": 7390
+    },
+    {
+      "video_frame_idx": 1692,
+      "frame_index": 1692,
+      "clamped_pixel_count": 9581
+    },
+    {
+      "video_frame_idx": 1693,
+      "frame_index": 1693,
+      "clamped_pixel_count": 2357
+    },
+    {
+      "video_frame_idx": 1694,
+      "frame_index": 1694,
+      "clamped_pixel_count": 30777
+    },
+    {
+      "video_frame_idx": 1695,
+      "frame_index": 1695,
+      "clamped_pixel_count": 51546
+    },
+    {
+      "video_frame_idx": 1696,
+      "frame_index": 1696,
+      "clamped_pixel_count": 35506
+    },
+    {
+      "video_frame_idx": 1697,
+      "frame_index": 1697,
+      "clamped_pixel_count": 37104
+    },
+    {
+      "video_frame_idx": 1698,
+      "frame_index": 1698,
+      "clamped_pixel_count": 44024
+    },
+    {
+      "video_frame_idx": 1699,
+      "frame_index": 1699,
+      "clamped_pixel_count": 11561
+    },
+    {
+      "video_frame_idx": 1700,
+      "frame_index": 1700,
+      "clamped_pixel_count": 8991
+    },
+    {
+      "video_frame_idx": 1701,
+      "frame_index": 1701,
+      "clamped_pixel_count": 4568
+    },
+    {
+      "video_frame_idx": 1702,
+      "frame_index": 1702,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1703,
+      "frame_index": 1703,
+      "clamped_pixel_count": 225
+    },
+    {
+      "video_frame_idx": 1704,
+      "frame_index": 1704,
+      "clamped_pixel_count": 847
+    },
+    {
+      "video_frame_idx": 1705,
+      "frame_index": 1705,
+      "clamped_pixel_count": 2236
+    },
+    {
+      "video_frame_idx": 1706,
+      "frame_index": 1706,
+      "clamped_pixel_count": 4442
+    },
+    {
+      "video_frame_idx": 1707,
+      "frame_index": 1707,
+      "clamped_pixel_count": 2209
+    },
+    {
+      "video_frame_idx": 1708,
+      "frame_index": 1708,
+      "clamped_pixel_count": 2392
+    },
+    {
+      "video_frame_idx": 1709,
+      "frame_index": 1709,
+      "clamped_pixel_count": 2257
+    },
+    {
+      "video_frame_idx": 1710,
+      "frame_index": 1710,
+      "clamped_pixel_count": 904
+    },
+    {
+      "video_frame_idx": 1711,
+      "frame_index": 1711,
+      "clamped_pixel_count": 7805
+    },
+    {
+      "video_frame_idx": 1712,
+      "frame_index": 1712,
+      "clamped_pixel_count": 8439
+    },
+    {
+      "video_frame_idx": 1713,
+      "frame_index": 1713,
+      "clamped_pixel_count": 8746
+    },
+    {
+      "video_frame_idx": 1714,
+      "frame_index": 1714,
+      "clamped_pixel_count": 5216
+    },
+    {
+      "video_frame_idx": 1715,
+      "frame_index": 1715,
+      "clamped_pixel_count": 7032
+    },
+    {
+      "video_frame_idx": 1716,
+      "frame_index": 1716,
+      "clamped_pixel_count": 1856
+    },
+    {
+      "video_frame_idx": 1717,
+      "frame_index": 1717,
+      "clamped_pixel_count": 5956
+    },
+    {
+      "video_frame_idx": 1718,
+      "frame_index": 1718,
+      "clamped_pixel_count": 862
+    },
+    {
+      "video_frame_idx": 1719,
+      "frame_index": 1719,
+      "clamped_pixel_count": 306
+    },
+    {
+      "video_frame_idx": 1720,
+      "frame_index": 1720,
+      "clamped_pixel_count": 1915
+    },
+    {
+      "video_frame_idx": 1721,
+      "frame_index": 1721,
+      "clamped_pixel_count": 1181
+    },
+    {
+      "video_frame_idx": 1722,
+      "frame_index": 1722,
+      "clamped_pixel_count": 6731
+    },
+    {
+      "video_frame_idx": 1723,
+      "frame_index": 1723,
+      "clamped_pixel_count": 2064
+    },
+    {
+      "video_frame_idx": 1724,
+      "frame_index": 1724,
+      "clamped_pixel_count": 882
+    },
+    {
+      "video_frame_idx": 1725,
+      "frame_index": 1725,
+      "clamped_pixel_count": 4273
+    },
+    {
+      "video_frame_idx": 1726,
+      "frame_index": 1726,
+      "clamped_pixel_count": 4200
+    },
+    {
+      "video_frame_idx": 1727,
+      "frame_index": 1727,
+      "clamped_pixel_count": 5026
+    },
+    {
+      "video_frame_idx": 1728,
+      "frame_index": 1728,
+      "clamped_pixel_count": 4329
+    },
+    {
+      "video_frame_idx": 1729,
+      "frame_index": 1729,
+      "clamped_pixel_count": 399
+    },
+    {
+      "video_frame_idx": 1730,
+      "frame_index": 1730,
+      "clamped_pixel_count": 232
+    },
+    {
+      "video_frame_idx": 1731,
+      "frame_index": 1731,
+      "clamped_pixel_count": 229
+    },
+    {
+      "video_frame_idx": 1732,
+      "frame_index": 1732,
+      "clamped_pixel_count": 2351
+    },
+    {
+      "video_frame_idx": 1733,
+      "frame_index": 1733,
+      "clamped_pixel_count": 327
+    },
+    {
+      "video_frame_idx": 1734,
+      "frame_index": 1734,
+      "clamped_pixel_count": 415
+    },
+    {
+      "video_frame_idx": 1735,
+      "frame_index": 1735,
+      "clamped_pixel_count": 863
+    },
+    {
+      "video_frame_idx": 1736,
+      "frame_index": 1736,
+      "clamped_pixel_count": 1055
+    },
+    {
+      "video_frame_idx": 1737,
+      "frame_index": 1737,
+      "clamped_pixel_count": 850
+    },
+    {
+      "video_frame_idx": 1738,
+      "frame_index": 1738,
+      "clamped_pixel_count": 918
+    },
+    {
+      "video_frame_idx": 1739,
+      "frame_index": 1739,
+      "clamped_pixel_count": 682
+    },
+    {
+      "video_frame_idx": 1740,
+      "frame_index": 1740,
+      "clamped_pixel_count": 862
+    },
+    {
+      "video_frame_idx": 1741,
+      "frame_index": 1741,
+      "clamped_pixel_count": 1371
+    },
+    {
+      "video_frame_idx": 1742,
+      "frame_index": 1742,
+      "clamped_pixel_count": 523
+    },
+    {
+      "video_frame_idx": 1743,
+      "frame_index": 1743,
+      "clamped_pixel_count": 1419
+    },
+    {
+      "video_frame_idx": 1744,
+      "frame_index": 1744,
+      "clamped_pixel_count": 1390
+    },
+    {
+      "video_frame_idx": 1745,
+      "frame_index": 1745,
+      "clamped_pixel_count": 1497
+    },
+    {
+      "video_frame_idx": 1746,
+      "frame_index": 1746,
+      "clamped_pixel_count": 1179
+    },
+    {
+      "video_frame_idx": 1747,
+      "frame_index": 1747,
+      "clamped_pixel_count": 797
+    },
+    {
+      "video_frame_idx": 1748,
+      "frame_index": 1748,
+      "clamped_pixel_count": 2122
+    },
+    {
+      "video_frame_idx": 1749,
+      "frame_index": 1749,
+      "clamped_pixel_count": 4518
+    },
+    {
+      "video_frame_idx": 1750,
+      "frame_index": 1750,
+      "clamped_pixel_count": 2796
+    },
+    {
+      "video_frame_idx": 1751,
+      "frame_index": 1751,
+      "clamped_pixel_count": 1036
+    },
+    {
+      "video_frame_idx": 1752,
+      "frame_index": 1752,
+      "clamped_pixel_count": 1763
+    },
+    {
+      "video_frame_idx": 1753,
+      "frame_index": 1753,
+      "clamped_pixel_count": 1739
+    },
+    {
+      "video_frame_idx": 1754,
+      "frame_index": 1754,
+      "clamped_pixel_count": 1225
+    },
+    {
+      "video_frame_idx": 1755,
+      "frame_index": 1755,
+      "clamped_pixel_count": 2165
+    },
+    {
+      "video_frame_idx": 1756,
+      "frame_index": 1756,
+      "clamped_pixel_count": 2704
+    },
+    {
+      "video_frame_idx": 1757,
+      "frame_index": 1757,
+      "clamped_pixel_count": 2553
+    },
+    {
+      "video_frame_idx": 1758,
+      "frame_index": 1758,
+      "clamped_pixel_count": 3393
+    },
+    {
+      "video_frame_idx": 1759,
+      "frame_index": 1759,
+      "clamped_pixel_count": 1989
+    },
+    {
+      "video_frame_idx": 1760,
+      "frame_index": 1760,
+      "clamped_pixel_count": 1733
+    },
+    {
+      "video_frame_idx": 1761,
+      "frame_index": 1761,
+      "clamped_pixel_count": 2289
+    },
+    {
+      "video_frame_idx": 1762,
+      "frame_index": 1762,
+      "clamped_pixel_count": 3762
+    },
+    {
+      "video_frame_idx": 1763,
+      "frame_index": 1763,
+      "clamped_pixel_count": 2113
+    },
+    {
+      "video_frame_idx": 1764,
+      "frame_index": 1764,
+      "clamped_pixel_count": 1453
+    },
+    {
+      "video_frame_idx": 1765,
+      "frame_index": 1765,
+      "clamped_pixel_count": 1802
+    },
+    {
+      "video_frame_idx": 1766,
+      "frame_index": 1766,
+      "clamped_pixel_count": 2272
+    },
+    {
+      "video_frame_idx": 1767,
+      "frame_index": 1767,
+      "clamped_pixel_count": 771
+    },
+    {
+      "video_frame_idx": 1768,
+      "frame_index": 1768,
+      "clamped_pixel_count": 1652
+    },
+    {
+      "video_frame_idx": 1769,
+      "frame_index": 1769,
+      "clamped_pixel_count": 1074
+    },
+    {
+      "video_frame_idx": 1770,
+      "frame_index": 1770,
+      "clamped_pixel_count": 1074
+    },
+    {
+      "video_frame_idx": 1771,
+      "frame_index": 1771,
+      "clamped_pixel_count": 622
+    },
+    {
+      "video_frame_idx": 1772,
+      "frame_index": 1772,
+      "clamped_pixel_count": 718
+    },
+    {
+      "video_frame_idx": 1773,
+      "frame_index": 1773,
+      "clamped_pixel_count": 919
+    },
+    {
+      "video_frame_idx": 1774,
+      "frame_index": 1774,
+      "clamped_pixel_count": 931
+    },
+    {
+      "video_frame_idx": 1775,
+      "frame_index": 1775,
+      "clamped_pixel_count": 972
+    },
+    {
+      "video_frame_idx": 1776,
+      "frame_index": 1776,
+      "clamped_pixel_count": 797
+    },
+    {
+      "video_frame_idx": 1777,
+      "frame_index": 1777,
+      "clamped_pixel_count": 911
+    },
+    {
+      "video_frame_idx": 1778,
+      "frame_index": 1778,
+      "clamped_pixel_count": 926
+    },
+    {
+      "video_frame_idx": 1779,
+      "frame_index": 1779,
+      "clamped_pixel_count": 1085
+    },
+    {
+      "video_frame_idx": 1780,
+      "frame_index": 1780,
+      "clamped_pixel_count": 561
+    },
+    {
+      "video_frame_idx": 1781,
+      "frame_index": 1781,
+      "clamped_pixel_count": 486
+    },
+    {
+      "video_frame_idx": 1782,
+      "frame_index": 1782,
+      "clamped_pixel_count": 628
+    },
+    {
+      "video_frame_idx": 1783,
+      "frame_index": 1783,
+      "clamped_pixel_count": 435
+    },
+    {
+      "video_frame_idx": 1784,
+      "frame_index": 1784,
+      "clamped_pixel_count": 938
+    },
+    {
+      "video_frame_idx": 1785,
+      "frame_index": 1785,
+      "clamped_pixel_count": 1276
+    },
+    {
+      "video_frame_idx": 1786,
+      "frame_index": 1786,
+      "clamped_pixel_count": 2531
+    },
+    {
+      "video_frame_idx": 1787,
+      "frame_index": 1787,
+      "clamped_pixel_count": 3046
+    },
+    {
+      "video_frame_idx": 1788,
+      "frame_index": 1788,
+      "clamped_pixel_count": 1853
+    },
+    {
+      "video_frame_idx": 1789,
+      "frame_index": 1789,
+      "clamped_pixel_count": 2595
+    },
+    {
+      "video_frame_idx": 1790,
+      "frame_index": 1790,
+      "clamped_pixel_count": 2156
+    },
+    {
+      "video_frame_idx": 1791,
+      "frame_index": 1791,
+      "clamped_pixel_count": 2345
+    },
+    {
+      "video_frame_idx": 1792,
+      "frame_index": 1792,
+      "clamped_pixel_count": 2057
+    },
+    {
+      "video_frame_idx": 1793,
+      "frame_index": 1793,
+      "clamped_pixel_count": 2809
+    },
+    {
+      "video_frame_idx": 1794,
+      "frame_index": 1794,
+      "clamped_pixel_count": 2498
+    },
+    {
+      "video_frame_idx": 1795,
+      "frame_index": 1795,
+      "clamped_pixel_count": 2341
+    },
+    {
+      "video_frame_idx": 1796,
+      "frame_index": 1796,
+      "clamped_pixel_count": 2731
+    },
+    {
+      "video_frame_idx": 1797,
+      "frame_index": 1797,
+      "clamped_pixel_count": 7661
+    },
+    {
+      "video_frame_idx": 1798,
+      "frame_index": 1798,
+      "clamped_pixel_count": 2337
+    },
+    {
+      "video_frame_idx": 1799,
+      "frame_index": 1799,
+      "clamped_pixel_count": 3333
+    },
+    {
+      "video_frame_idx": 1800,
+      "frame_index": 1800,
+      "clamped_pixel_count": 3554
+    },
+    {
+      "video_frame_idx": 1801,
+      "frame_index": 1801,
+      "clamped_pixel_count": 3683
+    },
+    {
+      "video_frame_idx": 1802,
+      "frame_index": 1802,
+      "clamped_pixel_count": 2727
+    },
+    {
+      "video_frame_idx": 1803,
+      "frame_index": 1803,
+      "clamped_pixel_count": 1577
+    },
+    {
+      "video_frame_idx": 1804,
+      "frame_index": 1804,
+      "clamped_pixel_count": 2345
+    },
+    {
+      "video_frame_idx": 1805,
+      "frame_index": 1805,
+      "clamped_pixel_count": 2357
+    },
+    {
+      "video_frame_idx": 1806,
+      "frame_index": 1806,
+      "clamped_pixel_count": 1876
+    },
+    {
+      "video_frame_idx": 1807,
+      "frame_index": 1807,
+      "clamped_pixel_count": 1993
+    },
+    {
+      "video_frame_idx": 1808,
+      "frame_index": 1808,
+      "clamped_pixel_count": 1928
+    },
+    {
+      "video_frame_idx": 1809,
+      "frame_index": 1809,
+      "clamped_pixel_count": 1172
+    },
+    {
+      "video_frame_idx": 1810,
+      "frame_index": 1810,
+      "clamped_pixel_count": 1837
+    },
+    {
+      "video_frame_idx": 1811,
+      "frame_index": 1811,
+      "clamped_pixel_count": 1497
+    },
+    {
+      "video_frame_idx": 1812,
+      "frame_index": 1812,
+      "clamped_pixel_count": 1281
+    },
+    {
+      "video_frame_idx": 1813,
+      "frame_index": 1813,
+      "clamped_pixel_count": 1481
+    },
+    {
+      "video_frame_idx": 1814,
+      "frame_index": 1814,
+      "clamped_pixel_count": 942
+    },
+    {
+      "video_frame_idx": 1815,
+      "frame_index": 1815,
+      "clamped_pixel_count": 1384
+    },
+    {
+      "video_frame_idx": 1816,
+      "frame_index": 1816,
+      "clamped_pixel_count": 888
+    },
+    {
+      "video_frame_idx": 1817,
+      "frame_index": 1817,
+      "clamped_pixel_count": 1304
+    },
+    {
+      "video_frame_idx": 1818,
+      "frame_index": 1818,
+      "clamped_pixel_count": 2184
+    },
+    {
+      "video_frame_idx": 1819,
+      "frame_index": 1819,
+      "clamped_pixel_count": 2851
+    },
+    {
+      "video_frame_idx": 1820,
+      "frame_index": 1820,
+      "clamped_pixel_count": 1659
+    },
+    {
+      "video_frame_idx": 1821,
+      "frame_index": 1821,
+      "clamped_pixel_count": 1854
+    },
+    {
+      "video_frame_idx": 1822,
+      "frame_index": 1822,
+      "clamped_pixel_count": 4580
+    },
+    {
+      "video_frame_idx": 1823,
+      "frame_index": 1823,
+      "clamped_pixel_count": 2626
+    },
+    {
+      "video_frame_idx": 1824,
+      "frame_index": 1824,
+      "clamped_pixel_count": 2124
+    },
+    {
+      "video_frame_idx": 1825,
+      "frame_index": 1825,
+      "clamped_pixel_count": 1407
+    },
+    {
+      "video_frame_idx": 1826,
+      "frame_index": 1826,
+      "clamped_pixel_count": 1692
+    },
+    {
+      "video_frame_idx": 1827,
+      "frame_index": 1827,
+      "clamped_pixel_count": 1978
+    },
+    {
+      "video_frame_idx": 1828,
+      "frame_index": 1828,
+      "clamped_pixel_count": 2031
+    },
+    {
+      "video_frame_idx": 1829,
+      "frame_index": 1829,
+      "clamped_pixel_count": 2009
+    },
+    {
+      "video_frame_idx": 1830,
+      "frame_index": 1830,
+      "clamped_pixel_count": 1793
+    },
+    {
+      "video_frame_idx": 1831,
+      "frame_index": 1831,
+      "clamped_pixel_count": 1565
+    },
+    {
+      "video_frame_idx": 1832,
+      "frame_index": 1832,
+      "clamped_pixel_count": 1920
+    },
+    {
+      "video_frame_idx": 1833,
+      "frame_index": 1833,
+      "clamped_pixel_count": 2187
+    },
+    {
+      "video_frame_idx": 1834,
+      "frame_index": 1834,
+      "clamped_pixel_count": 1696
+    },
+    {
+      "video_frame_idx": 1835,
+      "frame_index": 1835,
+      "clamped_pixel_count": 1775
+    },
+    {
+      "video_frame_idx": 1836,
+      "frame_index": 1836,
+      "clamped_pixel_count": 2766
+    },
+    {
+      "video_frame_idx": 1837,
+      "frame_index": 1837,
+      "clamped_pixel_count": 2850
+    },
+    {
+      "video_frame_idx": 1838,
+      "frame_index": 1838,
+      "clamped_pixel_count": 2436
+    },
+    {
+      "video_frame_idx": 1839,
+      "frame_index": 1839,
+      "clamped_pixel_count": 2532
+    },
+    {
+      "video_frame_idx": 1840,
+      "frame_index": 1840,
+      "clamped_pixel_count": 1933
+    },
+    {
+      "video_frame_idx": 1841,
+      "frame_index": 1841,
+      "clamped_pixel_count": 1914
+    },
+    {
+      "video_frame_idx": 1842,
+      "frame_index": 1842,
+      "clamped_pixel_count": 1647
+    },
+    {
+      "video_frame_idx": 1843,
+      "frame_index": 1843,
+      "clamped_pixel_count": 2138
+    },
+    {
+      "video_frame_idx": 1844,
+      "frame_index": 1844,
+      "clamped_pixel_count": 1599
+    },
+    {
+      "video_frame_idx": 1845,
+      "frame_index": 1845,
+      "clamped_pixel_count": 1416
+    },
+    {
+      "video_frame_idx": 1846,
+      "frame_index": 1846,
+      "clamped_pixel_count": 1771
+    },
+    {
+      "video_frame_idx": 1847,
+      "frame_index": 1847,
+      "clamped_pixel_count": 1713
+    },
+    {
+      "video_frame_idx": 1848,
+      "frame_index": 1848,
+      "clamped_pixel_count": 589
+    },
+    {
+      "video_frame_idx": 1849,
+      "frame_index": 1849,
+      "clamped_pixel_count": 716
+    },
+    {
+      "video_frame_idx": 1850,
+      "frame_index": 1850,
+      "clamped_pixel_count": 1594
+    },
+    {
+      "video_frame_idx": 1851,
+      "frame_index": 1851,
+      "clamped_pixel_count": 251
+    },
+    {
+      "video_frame_idx": 1852,
+      "frame_index": 1852,
+      "clamped_pixel_count": 418
+    },
+    {
+      "video_frame_idx": 1853,
+      "frame_index": 1853,
+      "clamped_pixel_count": 70
+    },
+    {
+      "video_frame_idx": 1856,
+      "frame_index": 1856,
+      "clamped_pixel_count": 138
+    },
+    {
+      "video_frame_idx": 1858,
+      "frame_index": 1858,
+      "clamped_pixel_count": 449
+    },
+    {
+      "video_frame_idx": 1861,
+      "frame_index": 1861,
+      "clamped_pixel_count": 523
+    },
+    {
+      "video_frame_idx": 1862,
+      "frame_index": 1862,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1863,
+      "frame_index": 1863,
+      "clamped_pixel_count": 15
+    },
+    {
+      "video_frame_idx": 1864,
+      "frame_index": 1864,
+      "clamped_pixel_count": 392
+    },
+    {
+      "video_frame_idx": 1865,
+      "frame_index": 1865,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 1866,
+      "frame_index": 1866,
+      "clamped_pixel_count": 81
+    },
+    {
+      "video_frame_idx": 1867,
+      "frame_index": 1867,
+      "clamped_pixel_count": 28
+    },
+    {
+      "video_frame_idx": 1868,
+      "frame_index": 1868,
+      "clamped_pixel_count": 162
+    },
+    {
+      "video_frame_idx": 1869,
+      "frame_index": 1869,
+      "clamped_pixel_count": 61
+    },
+    {
+      "video_frame_idx": 1870,
+      "frame_index": 1870,
+      "clamped_pixel_count": 9
+    },
+    {
+      "video_frame_idx": 1872,
+      "frame_index": 1872,
+      "clamped_pixel_count": 363
+    },
+    {
+      "video_frame_idx": 1873,
+      "frame_index": 1873,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1877,
+      "frame_index": 1877,
+      "clamped_pixel_count": 902
+    },
+    {
+      "video_frame_idx": 1878,
+      "frame_index": 1878,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1879,
+      "frame_index": 1879,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1880,
+      "frame_index": 1880,
+      "clamped_pixel_count": 22
+    },
+    {
+      "video_frame_idx": 1881,
+      "frame_index": 1881,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 1882,
+      "frame_index": 1882,
+      "clamped_pixel_count": 5342
+    },
+    {
+      "video_frame_idx": 1883,
+      "frame_index": 1883,
+      "clamped_pixel_count": 222
+    },
+    {
+      "video_frame_idx": 1884,
+      "frame_index": 1884,
+      "clamped_pixel_count": 152
+    },
+    {
+      "video_frame_idx": 1885,
+      "frame_index": 1885,
+      "clamped_pixel_count": 13
+    },
+    {
+      "video_frame_idx": 1889,
+      "frame_index": 1889,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1890,
+      "frame_index": 1890,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1891,
+      "frame_index": 1891,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 1892,
+      "frame_index": 1892,
+      "clamped_pixel_count": 26
+    },
+    {
+      "video_frame_idx": 1893,
+      "frame_index": 1893,
+      "clamped_pixel_count": 46
+    },
+    {
+      "video_frame_idx": 1894,
+      "frame_index": 1894,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1897,
+      "frame_index": 1897,
+      "clamped_pixel_count": 5
+    },
+    {
+      "video_frame_idx": 1901,
+      "frame_index": 1901,
+      "clamped_pixel_count": 8
+    },
+    {
+      "video_frame_idx": 1902,
+      "frame_index": 1902,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1906,
+      "frame_index": 1906,
+      "clamped_pixel_count": 294
+    },
+    {
+      "video_frame_idx": 1907,
+      "frame_index": 1907,
+      "clamped_pixel_count": 203
+    },
+    {
+      "video_frame_idx": 1908,
+      "frame_index": 1908,
+      "clamped_pixel_count": 1
+    },
+    {
+      "video_frame_idx": 1909,
+      "frame_index": 1909,
+      "clamped_pixel_count": 121
+    },
+    {
+      "video_frame_idx": 1910,
+      "frame_index": 1910,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 1911,
+      "frame_index": 1911,
+      "clamped_pixel_count": 12
+    },
+    {
+      "video_frame_idx": 1916,
+      "frame_index": 1916,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 1919,
+      "frame_index": 1919,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 1926,
+      "frame_index": 1926,
+      "clamped_pixel_count": 7
+    },
+    {
+      "video_frame_idx": 1928,
+      "frame_index": 1928,
+      "clamped_pixel_count": 6
+    },
+    {
+      "video_frame_idx": 1959,
+      "frame_index": 1959,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 2006,
+      "frame_index": 2006,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 2649,
+      "frame_index": 2649,
+      "clamped_pixel_count": 862
+    },
+    {
+      "video_frame_idx": 2650,
+      "frame_index": 2650,
+      "clamped_pixel_count": 1435
+    },
+    {
+      "video_frame_idx": 2651,
+      "frame_index": 2651,
+      "clamped_pixel_count": 393
+    },
+    {
+      "video_frame_idx": 2652,
+      "frame_index": 2652,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 2653,
+      "frame_index": 2653,
+      "clamped_pixel_count": 25
+    },
+    {
+      "video_frame_idx": 2655,
+      "frame_index": 2655,
+      "clamped_pixel_count": 1687
+    },
+    {
+      "video_frame_idx": 2656,
+      "frame_index": 2656,
+      "clamped_pixel_count": 918
+    },
+    {
+      "video_frame_idx": 2657,
+      "frame_index": 2657,
+      "clamped_pixel_count": 1536
+    },
+    {
+      "video_frame_idx": 2658,
+      "frame_index": 2658,
+      "clamped_pixel_count": 1404
+    },
+    {
+      "video_frame_idx": 2659,
+      "frame_index": 2659,
+      "clamped_pixel_count": 540
+    },
+    {
+      "video_frame_idx": 2660,
+      "frame_index": 2660,
+      "clamped_pixel_count": 417
+    },
+    {
+      "video_frame_idx": 2661,
+      "frame_index": 2661,
+      "clamped_pixel_count": 3
+    },
+    {
+      "video_frame_idx": 2662,
+      "frame_index": 2662,
+      "clamped_pixel_count": 294
+    },
+    {
+      "video_frame_idx": 2663,
+      "frame_index": 2663,
+      "clamped_pixel_count": 151
+    },
+    {
+      "video_frame_idx": 2664,
+      "frame_index": 2664,
+      "clamped_pixel_count": 16
+    },
+    {
+      "video_frame_idx": 2665,
+      "frame_index": 2665,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 2666,
+      "frame_index": 2666,
+      "clamped_pixel_count": 417
+    },
+    {
+      "video_frame_idx": 2667,
+      "frame_index": 2667,
+      "clamped_pixel_count": 1857
+    },
+    {
+      "video_frame_idx": 2668,
+      "frame_index": 2668,
+      "clamped_pixel_count": 1528
+    },
+    {
+      "video_frame_idx": 2669,
+      "frame_index": 2669,
+      "clamped_pixel_count": 1456
+    },
+    {
+      "video_frame_idx": 2670,
+      "frame_index": 2670,
+      "clamped_pixel_count": 1345
+    },
+    {
+      "video_frame_idx": 2671,
+      "frame_index": 2671,
+      "clamped_pixel_count": 901
+    },
+    {
+      "video_frame_idx": 2672,
+      "frame_index": 2672,
+      "clamped_pixel_count": 548
+    },
+    {
+      "video_frame_idx": 2673,
+      "frame_index": 2673,
+      "clamped_pixel_count": 945
+    },
+    {
+      "video_frame_idx": 2674,
+      "frame_index": 2674,
+      "clamped_pixel_count": 1234
+    },
+    {
+      "video_frame_idx": 2675,
+      "frame_index": 2675,
+      "clamped_pixel_count": 764
+    },
+    {
+      "video_frame_idx": 2676,
+      "frame_index": 2676,
+      "clamped_pixel_count": 1248
+    },
+    {
+      "video_frame_idx": 2677,
+      "frame_index": 2677,
+      "clamped_pixel_count": 1712
+    },
+    {
+      "video_frame_idx": 2678,
+      "frame_index": 2678,
+      "clamped_pixel_count": 496
+    },
+    {
+      "video_frame_idx": 2679,
+      "frame_index": 2679,
+      "clamped_pixel_count": 1817
+    },
+    {
+      "video_frame_idx": 2680,
+      "frame_index": 2680,
+      "clamped_pixel_count": 197
+    },
+    {
+      "video_frame_idx": 2681,
+      "frame_index": 2681,
+      "clamped_pixel_count": 679
+    },
+    {
+      "video_frame_idx": 2682,
+      "frame_index": 2682,
+      "clamped_pixel_count": 869
+    },
+    {
+      "video_frame_idx": 2683,
+      "frame_index": 2683,
+      "clamped_pixel_count": 491
+    },
+    {
+      "video_frame_idx": 2684,
+      "frame_index": 2684,
+      "clamped_pixel_count": 2
+    },
+    {
+      "video_frame_idx": 2685,
+      "frame_index": 2685,
+      "clamped_pixel_count": 4
+    },
+    {
+      "video_frame_idx": 2686,
+      "frame_index": 2686,
+      "clamped_pixel_count": 7
+    }
+  ]
+}

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/tables/events.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b72b67331fa1d51ad28b0e96e099b33380600277d663243799431588ae8b1ba9
+size 1177

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/tables/frames.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:271c2b4dcb9e99130230401e2d4c53d508d5c62cd5a2336db2853d824b1e4fa2
+size 4621296

scans/orange_pulley_oct20/converted/sessions/session_20261020_170312_744718/tables/robot_states.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33e159471ba1a5f4884d948bcd5682df27a26d6611619788277d19bd843903f1
+size 6072