Upload session_20260624_095554_523212

.gitattributes

@@ -58,3 +58,15 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_12540311_depth_fast_foundation_stereo_slowest_zdepth.zdepth filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_12540311_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_12540311_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_12540311_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_17736741_depth_fast_foundation_stereo_slowest_zdepth.zdepth filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_17736741_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_17736741_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_17736741_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_23007103_depth_fast_foundation_stereo_slowest_zdepth.zdepth filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_23007103_depth_zed_sdk_neural_plus.zdepth filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_23007103_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260624_095554_523212/videos/zed_23007103_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text

README.md

@@ -0,0 +1,26 @@
+# Converted Robotics Dataset
+
+This dataset stores authoritative timestamps and metadata in Parquet tables and
+stores frame payloads in video containers. Video presentation timestamps are not
+used for synchronization; use `tables/frames.parquet` and `video_frame_idx`.
+
+Core loading rule:
+
+```text
+decoded video frame k == frames.parquet row where video_frame_idx == k
+```
+
+Useful files:
+
+- `dataset_manifest.parquet`: converted sessions in this dataset root
+- `sessions/<session_id>/metadata/streams.parquet`: stream IDs and modalities
+- `sessions/<session_id>/metadata/videos.parquet`: stream-to-video mapping
+- `sessions/<session_id>/tables/frames.parquet`: authoritative timestamps,
+  frame indices, clock domains, and hashes
+- `sessions/<session_id>/tables/robot_states.parquet`: robot states, if present
+- `sessions/<session_id>/metadata/calibration.json`: calibration and transform
+  conventions
+- `sessions/<session_id>/metadata/validation_report.json`: validation status
+
+Downstream reading requires Python, NumPy, PyArrow, and PyAV/FFmpeg-compatible
+decoders. Camera SDKs are conversion-only dependencies.

dataset_manifest.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:444169d55243475899395346a97023a30515c2753ed63cd134cd224ce65a5a61
+size 8050

sessions/session_20260624_095554_523212/metadata/calibration.json

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+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12540311_left_rgb_camera",
+      "right_camera_frame": "zed_12540311_right_rgb_camera",
+      "stereo_transform_convention": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
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+      "depth_camera_frame": "zed_12540311_left_rgb_camera",
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+      "ir_left_camera_frame": null,
+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_12540311_left_rgb_camera",
+      "right_camera_frame": "zed_12540311_right_rgb_camera",
+      "stereo_transform_convention": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
+    "zed_12540311_right_rgb": {
+      "color_camera_frame": null,
+      "depth_camera_frame": "zed_12540311_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_12540311_left_rgb_camera",
+      "right_camera_frame": "zed_12540311_right_rgb_camera",
+      "stereo_transform_convention": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
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+      "ir_right_camera_frame": null,
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+      "stereo_transform_convention": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
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+      "depth_camera_frame": "zed_17736741_left_rgb_camera",
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+      "ir_right_camera_frame": null,
+      "left_camera_frame": "zed_17736741_left_rgb_camera",
+      "right_camera_frame": "zed_17736741_right_rgb_camera",
+      "stereo_transform_convention": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
+    },
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+      "stereo_transform_convention": "zed_23007103_left_rgb_camera_T_zed_23007103_right_rgb_camera maps points from the right RGB optical frame into the left RGB optical frame."
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+}

sessions/session_20260624_095554_523212/metadata/calibration_package/source_run_config.json

@@ -0,0 +1,136 @@
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sessions/session_20260624_095554_523212/metadata/calibration_package/source_run_manifest.json

@@ -0,0 +1,403 @@
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+  "extra": {
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+    "final_transform_source": "combined_fixed_movable_ba",
+    "transform_store_table_frame_populated": true,
+    "rgb_only_initialization": true,
+    "depth_required": false,
+    "foundation_stereo_required": false,
+    "successful_camera_serials": [
+      "12540311",
+      "17736741",
+      "23007103"
+    ],
+    "fixed_target_reprojection_refinement_ran": true,
+    "combined_fixed_movable_ba_selected": true,
+    "combined_ba_observation_dir": "calibration_results/multicam/20260623_163543/phase_02_observations",
+    "combined_ba_output_dir": "/mnt/data0/magna/belt_perception/calibration_results/multicam/20260623_165552/phase_03_joint_refinement/combined_fixed_aprilgrid_charuco_ba",
+    "combined_ba_config_name": "fixed020_movable1",
+    "not_true_joint_ba": false
+  }
+}

sessions/session_20260624_095554_523212/metadata/calibration_package/transforms_index.json

@@ -0,0 +1,11 @@
+{
+  "format": "npz",
+  "path": "world_T_camera_by_serial.npz",
+  "serials": [
+    "12540311",
+    "17736741",
+    "23007103"
+  ],
+  "transform_name": "world_T_camera",
+  "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)"
+}

sessions/session_20260624_095554_523212/metadata/calibration_package/world_T_camera_by_serial.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf9641ab7781a8e04f7d56125320957faeeeb2eb1def012e684b7d40655df6f4
+size 1150

sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_application_log.json

@@ -0,0 +1,227 @@
+{
+  "artifact_type": "camera_settings_application_log",
+  "actions": [
+    {
+      "settings_group_id": "zed_12540311_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "newerr",
+      "serial_number": "12540311",
+      "control": "auto_exposure",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": false,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "auto_exposure",
+        "requested_value": false,
+        "readback_value": false,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": false
+      }
+    },
+    {
+      "settings_group_id": "zed_12540311_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "newerr",
+      "serial_number": "12540311",
+      "control": "exposure",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": 90.0,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "exposure",
+        "requested_value": 90.0,
+        "readback_value": 90.0,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": 90
+      }
+    },
+    {
+      "settings_group_id": "zed_12540311_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "newerr",
+      "serial_number": "12540311",
+      "control": "gain",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": 37.0,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "gain",
+        "requested_value": 37.0,
+        "readback_value": 37.0,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": 37
+      }
+    },
+    {
+      "settings_group_id": "zed_12540311_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "newerr",
+      "serial_number": "12540311",
+      "control": "auto_white_balance",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": true,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "auto_white_balance",
+        "requested_value": true,
+        "readback_value": true,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": true
+      }
+    },
+    {
+      "settings_group_id": "zed_17736741_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "amazonbasics",
+      "serial_number": "17736741",
+      "control": "auto_exposure",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": true,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "auto_exposure",
+        "requested_value": true,
+        "readback_value": true,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": true
+      }
+    },
+    {
+      "settings_group_id": "zed_17736741_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "amazonbasics",
+      "serial_number": "17736741",
+      "control": "auto_white_balance",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": true,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "auto_white_balance",
+        "requested_value": true,
+        "readback_value": true,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": true
+      }
+    },
+    {
+      "settings_group_id": "zed_23007103_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-23007103",
+      "serial_number": "23007103",
+      "control": "auto_exposure",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": false,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "auto_exposure",
+        "requested_value": false,
+        "readback_value": false,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": false
+      }
+    },
+    {
+      "settings_group_id": "zed_23007103_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-23007103",
+      "serial_number": "23007103",
+      "control": "exposure",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": 90.0,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "exposure",
+        "requested_value": 90.0,
+        "readback_value": 90.0,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": 90
+      }
+    },
+    {
+      "settings_group_id": "zed_23007103_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-23007103",
+      "serial_number": "23007103",
+      "control": "gain",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": 46.0,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "gain",
+        "requested_value": 46.0,
+        "readback_value": 46.0,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": 46
+      }
+    },
+    {
+      "settings_group_id": "zed_23007103_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-23007103",
+      "serial_number": "23007103",
+      "control": "auto_white_balance",
+      "stage": "apply_minimal_auto_recording_policy",
+      "requested_value": true,
+      "status": "applied",
+      "reason": null,
+      "readback": {
+        "name": "auto_white_balance",
+        "requested_value": true,
+        "readback_value": true,
+        "success": true,
+        "clamped": false,
+        "quantized": false,
+        "warning": null,
+        "error": null,
+        "applied_value": true
+      }
+    }
+  ],
+  "errors": [],
+  "readback_failures": []
+}

sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_policy_applied.json

@@ -0,0 +1,108 @@
+{
+  "artifact_type": "camera_settings_policy_applied",
+  "applied_groups": {
+    "zed_12540311_stereo": {
+      "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+      "recording_readiness": "partial_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "auto_controls_remaining_enabled": [
+        "auto_white_balance"
+      ],
+      "auto_controls_disabled": [
+        "auto_exposure"
+      ],
+      "controls_allowed_to_drift_during_recording": [
+        "white_balance"
+      ],
+      "manual_controls_written": [
+        "exposure",
+        "gain"
+      ],
+      "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+      "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+      "exposure_gain_status": "manual_locked",
+      "white_balance_status": "auto_remaining_enabled",
+      "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+      "brightness_scale_locked": true,
+      "color_balance_locked": false,
+      "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+      "readback_controls": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 37.0,
+        "white_balance": 6500.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_17736741_stereo": {
+      "selected_policy_id": "zed_keep_all_auto",
+      "recording_readiness": "partial_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "auto_controls_remaining_enabled": [
+        "auto_exposure",
+        "auto_white_balance"
+      ],
+      "auto_controls_disabled": [],
+      "controls_allowed_to_drift_during_recording": [
+        "exposure",
+        "gain",
+        "white_balance"
+      ],
+      "manual_controls_written": [],
+      "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+      "reconstruction_priority_class": "all_auto",
+      "exposure_gain_status": "auto_remaining_enabled",
+      "white_balance_status": "auto_remaining_enabled",
+      "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+      "brightness_scale_locked": false,
+      "color_balance_locked": false,
+      "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+      "readback_controls": {
+        "auto_exposure": true,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 40.0,
+        "white_balance": 6500.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_23007103_stereo": {
+      "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+      "recording_readiness": "partial_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "auto_controls_remaining_enabled": [
+        "auto_white_balance"
+      ],
+      "auto_controls_disabled": [
+        "auto_exposure"
+      ],
+      "controls_allowed_to_drift_during_recording": [
+        "white_balance"
+      ],
+      "manual_controls_written": [
+        "exposure",
+        "gain"
+      ],
+      "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+      "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+      "exposure_gain_status": "manual_locked",
+      "white_balance_status": "auto_remaining_enabled",
+      "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+      "brightness_scale_locked": true,
+      "color_balance_locked": false,
+      "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+      "readback_controls": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 46.0,
+        "white_balance": 6500.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    }
+  }
+}

sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_policy_source.json

@@ -0,0 +1,1011 @@
+{
+  "artifact_type": "camera_settings_policy_source",
+  "policy_artifact_type": "minimal_auto_recording_policy",
+  "policy_artifact": {
+    "schema_version": 1,
+    "artifact_type": "minimal_auto_recording_policy",
+    "overall_success": true,
+    "metric_mode": "generic_full_frame_metrics",
+    "confidence": "lower",
+    "confidence_reason": "No board pose / patch extraction available for candidate scoring.",
+    "can_be_consumed_by_recording_script": true,
+    "can_be_consumed_by_live_tuning": false,
+    "recording_application_required": true,
+    "created_from_run_dir": "calibration_results/camera_auto_reset/20260623_175433",
+    "requested_acquisition": {
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "capture_profile_name": "zed-1080p30",
+      "enabled_rgb_stream_ids": [],
+      "resolution": null,
+      "fps": 30,
+      "stream_profile_name": null,
+      "image_format": null,
+      "zed_stream_profile_name": null,
+      "realsense_resolution_hw": null,
+      "realsense_image_format": null,
+      "realsense_rectify_color": true,
+      "preflight_probe_timeout_s": 5.0,
+      "realsense_duplicate_frame_policy": "wait_for_new",
+      "realsense_duplicate_timeout_s": 2.0,
+      "realsense_duplicate_max_count": null,
+      "enable_zed_depth_for_occlusion": false,
+      "zed_depth_occlusion_policy": "disabled",
+      "zed_depth_mode_for_occlusion": "NEURAL_PLUS",
+      "allow_stereo_pair_left_depth_as_group_occlusion_check": true,
+      "depth_min_valid_fraction": 0.25,
+      "foreground_margin_m": 0.05,
+      "depth_statistic": "adaptive",
+      "depth_unknown_policy": "allow_with_warning",
+      "exclude_patch_ids": [],
+      "patch_visibility_override": null
+    },
+    "actual_acquisition": {
+      "per_camera": {
+        "newerr": {
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "image_format": "rgb8",
+          "camera_id": "newerr",
+          "camera_type": "zed",
+          "serial_number": "12540311"
+        },
+        "amazonbasics": {
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "image_format": "rgb8",
+          "camera_id": "amazonbasics",
+          "camera_type": "zed",
+          "serial_number": "17736741"
+        },
+        "zed-23007103": {
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "image_format": "rgb8",
+          "camera_id": "zed-23007103",
+          "camera_type": "zed",
+          "serial_number": "23007103"
+        }
+      },
+      "enabled_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb",
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ],
+      "resolution": [
+        1080,
+        1920
+      ],
+      "fps": 30.0,
+      "stream_profile_name": "HD1080",
+      "image_format": "rgb8"
+    },
+    "selected_policy_ids": {
+      "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+      "zed_17736741_stereo": "zed_keep_all_auto",
+      "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
+    },
+    "diagnostic_image_paths": {
+      "zed_12540311_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+      },
+      "zed_12540311_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+      },
+      "zed_17736741_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+      },
+      "zed_17736741_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+      },
+      "zed_23007103_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+      },
+      "zed_23007103_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+      }
+    },
+    "settings_groups": {
+      "zed_12540311_stereo": {
+        "settings_group_id": "zed_12540311_stereo",
+        "settings_scope": "zed_stereo_pair",
+        "camera_id": "newerr",
+        "camera_type": "zed",
+        "serial_number": "12540311",
+        "member_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb"
+        ],
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "execution_model": "action_sequence_required",
+        "static_replayable": true,
+        "action_sequence_required": true,
+        "session_continuity_required": false,
+        "requires_auto_warmup_before_actions": false,
+        "required_warmup_frames": 0,
+        "can_be_applied_after_camera_reopen": true,
+        "non_replayable_manual_controls": [],
+        "recording_readiness": "partial_auto_recording_policy",
+        "requires_same_camera_session": false,
+        "auto_controls_remaining_enabled": [
+          "auto_white_balance"
+        ],
+        "auto_controls_disabled": [
+          "auto_exposure"
+        ],
+        "manual_controls_written": [
+          "exposure",
+          "gain"
+        ],
+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
+        ],
+        "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+        "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+        "exposure_gain_status": "manual_locked",
+        "white_balance_status": "auto_remaining_enabled",
+        "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+        "brightness_scale_locked": true,
+        "color_balance_locked": false,
+        "metric_mode": "generic_full_frame_metrics",
+        "confidence": "lower",
+        "confidence_reason": "No board pose / patch extraction available for candidate scoring.",
+        "controls_replayed": [
+          "exposure",
+          "gain"
+        ],
+        "controls_kept_auto": [
+          "auto_white_balance"
+        ],
+        "controls_disabled_auto": [
+          "auto_exposure"
+        ],
+        "baseline_unavailable_manual_controls": [],
+        "image_equivalence_success": true,
+        "image_equivalence_reasons": [],
+        "control_verification_success": true,
+        "control_verification_reasons": [],
+        "ordered_initialization_actions": [
+          {
+            "order": 1,
+            "control": "auto_exposure",
+            "action": "set",
+            "value": false
+          },
+          {
+            "order": 2,
+            "control": "exposure",
+            "action": "set",
+            "value": 90.0
+          },
+          {
+            "order": 3,
+            "control": "gain",
+            "action": "set",
+            "value": 37.0
+          },
+          {
+            "order": 4,
+            "control": "auto_white_balance",
+            "action": "set",
+            "value": true
+          }
+        ],
+        "replayable_scalar_controls": {
+          "exposure": 90.0,
+          "gain": 37.0
+        },
+        "final_expected_readback_state": {
+          "auto_exposure": false,
+          "exposure": 90.0,
+          "gain": 37.0,
+          "auto_white_balance": true
+        },
+        "final_observed_readback_state": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 37.0,
+          "white_balance": 6500.0
+        },
+        "diagnostic_image_paths": {
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+            "zed_23007103_left_rgb": {
+              "color_space": "srgb_gamma",
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+              "rg_ratio": 1.0577805042266846,
+              "bg_ratio": 0.9869942963123322,
+              "warm_cast_score": 0.0692638671071582,
+              "cool_cast_score": 0.0
+            },
+            "zed_23007103_right_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.34625232219696045,
+              "median_luma": 0.2679738700389862,
+              "p95_luma": 0.7738562226295471,
+              "saturation_fraction": 0.0029829764660493827,
+              "channel_clipped_fraction": 0.050816454475308644,
+              "rg_ratio": 1.0963400602340698,
+              "bg_ratio": 0.9674509465694427,
+              "warm_cast_score": 0.12511839078621811,
+              "cool_cast_score": 0.0
+            }
+          },
+          "post_initialization": {
+            "zed_23007103_left_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.3747921586036682,
+              "median_luma": 0.3045751750469208,
+              "p95_luma": 0.7882353663444519,
+              "saturation_fraction": 0.0033391203703703708,
+              "channel_clipped_fraction": 0.035711323302469136,
+              "rg_ratio": 1.0568022727966309,
+              "bg_ratio": 0.9872869551181793,
+              "warm_cast_score": 0.06809372549912421,
+              "cool_cast_score": 0.0
+            },
+            "zed_23007103_right_rgb": {
+              "color_space": "srgb_gamma",
+              "mean_luma": 0.3462519943714142,
+              "median_luma": 0.26862746477127075,
+              "p95_luma": 0.7738562226295471,
+              "saturation_fraction": 0.002980806327160494,
+              "channel_clipped_fraction": 0.05084129050925926,
+              "rg_ratio": 1.096000075340271,
+              "bg_ratio": 0.9678109586238861,
+              "warm_cast_score": 0.12446784445729647,
+              "cool_cast_score": 0.0
+            }
+          },
+          "deltas": {
+            "zed_23007103_left_rgb": {
+              "mean_luma": {
+                "baseline": 0.37483537197113037,
+                "post": 0.3747921586036682,
+                "delta": -4.32133674621582e-05,
+                "abs_delta": 4.32133674621582e-05
+              },
+              "median_luma": {
+                "baseline": 0.3045751750469208,
+                "post": 0.3045751750469208,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "p95_luma": {
+                "baseline": 0.7882353663444519,
+                "post": 0.7882353663444519,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "saturation_fraction": {
+                "baseline": 0.0033386381172839505,
+                "post": 0.0033391203703703708,
+                "delta": 4.822530864203103e-07,
+                "abs_delta": 4.822530864203103e-07
+              },
+              "channel_clipped_fraction": {
+                "baseline": 0.03563585069444444,
+                "post": 0.035711323302469136,
+                "delta": 7.547260802469313e-05,
+                "abs_delta": 7.547260802469313e-05
+              },
+              "rg_ratio": {
+                "baseline": 1.0577805042266846,
+                "post": 1.0568022727966309,
+                "delta": -0.000978231430053711,
+                "abs_delta": 0.000978231430053711
+              },
+              "bg_ratio": {
+                "baseline": 0.9869942963123322,
+                "post": 0.9872869551181793,
+                "delta": 0.00029265880584716797,
+                "abs_delta": 0.00029265880584716797
+              },
+              "warm_cast_score": {
+                "baseline": 0.0692638671071582,
+                "post": 0.06809372549912421,
+                "delta": -0.0011701416080339977,
+                "abs_delta": 0.0011701416080339977
+              },
+              "cool_cast_score": {
+                "baseline": 0.0,
+                "post": 0.0,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              }
+            },
+            "zed_23007103_right_rgb": {
+              "mean_luma": {
+                "baseline": 0.34625232219696045,
+                "post": 0.3462519943714142,
+                "delta": -3.2782554626464844e-07,
+                "abs_delta": 3.2782554626464844e-07
+              },
+              "median_luma": {
+                "baseline": 0.2679738700389862,
+                "post": 0.26862746477127075,
+                "delta": 0.0006535947322845459,
+                "abs_delta": 0.0006535947322845459
+              },
+              "p95_luma": {
+                "baseline": 0.7738562226295471,
+                "post": 0.7738562226295471,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              },
+              "saturation_fraction": {
+                "baseline": 0.0029829764660493827,
+                "post": 0.002980806327160494,
+                "delta": -2.1701388888887944e-06,
+                "abs_delta": 2.1701388888887944e-06
+              },
+              "channel_clipped_fraction": {
+                "baseline": 0.050816454475308644,
+                "post": 0.05084129050925926,
+                "delta": 2.4836033950613456e-05,
+                "abs_delta": 2.4836033950613456e-05
+              },
+              "rg_ratio": {
+                "baseline": 1.0963400602340698,
+                "post": 1.096000075340271,
+                "delta": -0.0003399848937988281,
+                "abs_delta": 0.0003399848937988281
+              },
+              "bg_ratio": {
+                "baseline": 0.9674509465694427,
+                "post": 0.9678109586238861,
+                "delta": 0.0003600120544433594,
+                "abs_delta": 0.0003600120544433594
+              },
+              "warm_cast_score": {
+                "baseline": 0.12511839078621811,
+                "post": 0.12446784445729647,
+                "delta": -0.0006505463289216418,
+                "abs_delta": 0.0006505463289216418
+              },
+              "cool_cast_score": {
+                "baseline": 0.0,
+                "post": 0.0,
+                "delta": 0.0,
+                "abs_delta": 0.0
+              }
+            }
+          },
+          "image_equivalence_success": true,
+          "image_equivalence_reasons": []
+        },
+        "recording_mode": "partial_auto",
+        "recording_consumable_after_reopen": true,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording."
+      }
+    },
+    "camera_control_acquisition_signature": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": 30,
+      "zed_fps": 30,
+      "realsense_fps": 30,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [
+        720,
+        1280
+      ],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      }
+    }
+  },
+  "source_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+  "source_sha256": "e9e084b8111fc60878d88f16fe68049bfd4c8882948ed9253140dd8bcc9abb1c"
+}

sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_readback_after_apply.json

@@ -0,0 +1,156 @@
+{
+  "schema_version": 1,
+  "requested_acquisition": {
+    "camera_rig_profile_name": "round-belt-three-zed",
+    "capture_profile_name": "zed-1080p30",
+    "enabled_rgb_stream_ids": [],
+    "resolution": null,
+    "fps": 30,
+    "stream_profile_name": null,
+    "image_format": null,
+    "zed_stream_profile_name": null,
+    "realsense_resolution_hw": null,
+    "realsense_image_format": null,
+    "realsense_rectify_color": true,
+    "preflight_probe_timeout_s": 5.0,
+    "realsense_duplicate_frame_policy": "wait_for_new",
+    "realsense_duplicate_timeout_s": 2.0,
+    "realsense_duplicate_max_count": null,
+    "enable_zed_depth_for_occlusion": false,
+    "zed_depth_occlusion_policy": "disabled",
+    "zed_depth_mode_for_occlusion": "NEURAL_PLUS",
+    "allow_stereo_pair_left_depth_as_group_occlusion_check": true,
+    "depth_min_valid_fraction": 0.25,
+    "foreground_margin_m": 0.05,
+    "depth_statistic": "adaptive",
+    "depth_unknown_policy": "allow_with_warning",
+    "exclude_patch_ids": [],
+    "patch_visibility_override": null
+  },
+  "actual_acquisition": {
+    "per_camera": {
+      "newerr": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "newerr",
+        "camera_type": "zed",
+        "serial_number": "12540311"
+      },
+      "amazonbasics": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "amazonbasics",
+        "camera_type": "zed",
+        "serial_number": "17736741"
+      },
+      "zed-23007103": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "zed-23007103",
+        "camera_type": "zed",
+        "serial_number": "23007103"
+      }
+    },
+    "enabled_rgb_stream_ids": [
+      "zed_12540311_left_rgb",
+      "zed_12540311_right_rgb",
+      "zed_17736741_left_rgb",
+      "zed_17736741_right_rgb",
+      "zed_23007103_left_rgb",
+      "zed_23007103_right_rgb"
+    ],
+    "resolution": [
+      1080,
+      1920
+    ],
+    "fps": 30.0,
+    "stream_profile_name": "HD1080",
+    "image_format": "rgb8"
+  },
+  "settings_groups": [
+    {
+      "settings_group_id": "zed_12540311_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "newerr",
+      "serial_number": "12540311",
+      "member_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 37.0,
+        "white_balance": 6500.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 3.0
+      }
+    },
+    {
+      "settings_group_id": "zed_17736741_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "amazonbasics",
+      "serial_number": "17736741",
+      "member_rgb_stream_ids": [
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": true,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 40.0,
+        "white_balance": 6500.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 3.0
+      }
+    },
+    {
+      "settings_group_id": "zed_23007103_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-23007103",
+      "serial_number": "23007103",
+      "member_rgb_stream_ids": [
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 46.0,
+        "white_balance": 6500.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 4.0
+      }
+    }
+  ]
+}

sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_readback_before_recording.json

@@ -0,0 +1,156 @@
+{
+  "schema_version": 1,
+  "requested_acquisition": {
+    "camera_rig_profile_name": "round-belt-three-zed",
+    "capture_profile_name": "zed-1080p30",
+    "enabled_rgb_stream_ids": [],
+    "resolution": null,
+    "fps": 30,
+    "stream_profile_name": null,
+    "image_format": null,
+    "zed_stream_profile_name": null,
+    "realsense_resolution_hw": null,
+    "realsense_image_format": null,
+    "realsense_rectify_color": true,
+    "preflight_probe_timeout_s": 5.0,
+    "realsense_duplicate_frame_policy": "wait_for_new",
+    "realsense_duplicate_timeout_s": 2.0,
+    "realsense_duplicate_max_count": null,
+    "enable_zed_depth_for_occlusion": false,
+    "zed_depth_occlusion_policy": "disabled",
+    "zed_depth_mode_for_occlusion": "NEURAL_PLUS",
+    "allow_stereo_pair_left_depth_as_group_occlusion_check": true,
+    "depth_min_valid_fraction": 0.25,
+    "foreground_margin_m": 0.05,
+    "depth_statistic": "adaptive",
+    "depth_unknown_policy": "allow_with_warning",
+    "exclude_patch_ids": [],
+    "patch_visibility_override": null
+  },
+  "actual_acquisition": {
+    "per_camera": {
+      "newerr": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "newerr",
+        "camera_type": "zed",
+        "serial_number": "12540311"
+      },
+      "amazonbasics": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "amazonbasics",
+        "camera_type": "zed",
+        "serial_number": "17736741"
+      },
+      "zed-23007103": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "camera_id": "zed-23007103",
+        "camera_type": "zed",
+        "serial_number": "23007103"
+      }
+    },
+    "enabled_rgb_stream_ids": [
+      "zed_12540311_left_rgb",
+      "zed_12540311_right_rgb",
+      "zed_17736741_left_rgb",
+      "zed_17736741_right_rgb",
+      "zed_23007103_left_rgb",
+      "zed_23007103_right_rgb"
+    ],
+    "resolution": [
+      1080,
+      1920
+    ],
+    "fps": 30.0,
+    "stream_profile_name": "HD1080",
+    "image_format": "rgb8"
+  },
+  "settings_groups": [
+    {
+      "settings_group_id": "zed_12540311_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "newerr",
+      "serial_number": "12540311",
+      "member_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 37.0,
+        "white_balance": 6500.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 3.0
+      }
+    },
+    {
+      "settings_group_id": "zed_17736741_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "amazonbasics",
+      "serial_number": "17736741",
+      "member_rgb_stream_ids": [
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": true,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 40.0,
+        "white_balance": 6500.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 3.0
+      }
+    },
+    {
+      "settings_group_id": "zed_23007103_stereo",
+      "settings_scope": "zed_stereo_pair",
+      "camera_id": "zed-23007103",
+      "serial_number": "23007103",
+      "member_rgb_stream_ids": [
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ],
+      "values": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 46.0,
+        "white_balance": 6500.0,
+        "brightness": 4.0,
+        "contrast": 4.0,
+        "hue": 0.0,
+        "saturation": 4.0,
+        "gamma": 5.0,
+        "sharpness": 4.0
+      }
+    }
+  ]
+}

sessions/session_20260624_095554_523212/metadata/camera_settings/camera_settings_recording_summary.json

@@ -0,0 +1,152 @@
+{
+  "artifact_type": "camera_settings_recording_summary",
+  "policy_artifact_type": "minimal_auto_recording_policy",
+  "recording_mode": "partial_auto",
+  "selected_policy_ids": {
+    "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+    "zed_17736741_stereo": "zed_keep_all_auto",
+    "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
+  },
+  "applied_groups": {
+    "zed_12540311_stereo": {
+      "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+      "recording_readiness": "partial_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "auto_controls_remaining_enabled": [
+        "auto_white_balance"
+      ],
+      "auto_controls_disabled": [
+        "auto_exposure"
+      ],
+      "controls_allowed_to_drift_during_recording": [
+        "white_balance"
+      ],
+      "manual_controls_written": [
+        "exposure",
+        "gain"
+      ],
+      "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+      "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+      "exposure_gain_status": "manual_locked",
+      "white_balance_status": "auto_remaining_enabled",
+      "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+      "brightness_scale_locked": true,
+      "color_balance_locked": false,
+      "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+      "readback_controls": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 37.0,
+        "white_balance": 6500.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_17736741_stereo": {
+      "selected_policy_id": "zed_keep_all_auto",
+      "recording_readiness": "partial_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "auto_controls_remaining_enabled": [
+        "auto_exposure",
+        "auto_white_balance"
+      ],
+      "auto_controls_disabled": [],
+      "controls_allowed_to_drift_during_recording": [
+        "exposure",
+        "gain",
+        "white_balance"
+      ],
+      "manual_controls_written": [],
+      "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+      "reconstruction_priority_class": "all_auto",
+      "exposure_gain_status": "auto_remaining_enabled",
+      "white_balance_status": "auto_remaining_enabled",
+      "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+      "brightness_scale_locked": false,
+      "color_balance_locked": false,
+      "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+      "readback_controls": {
+        "auto_exposure": true,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 40.0,
+        "white_balance": 6500.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    },
+    "zed_23007103_stereo": {
+      "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+      "recording_readiness": "partial_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "auto_controls_remaining_enabled": [
+        "auto_white_balance"
+      ],
+      "auto_controls_disabled": [
+        "auto_exposure"
+      ],
+      "controls_allowed_to_drift_during_recording": [
+        "white_balance"
+      ],
+      "manual_controls_written": [
+        "exposure",
+        "gain"
+      ],
+      "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+      "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+      "exposure_gain_status": "manual_locked",
+      "white_balance_status": "auto_remaining_enabled",
+      "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+      "brightness_scale_locked": true,
+      "color_balance_locked": false,
+      "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+      "readback_controls": {
+        "auto_exposure": false,
+        "auto_white_balance": true,
+        "exposure": 90.0,
+        "gain": 46.0,
+        "white_balance": 6500.0
+      },
+      "readback_success": true,
+      "readback_reasons": []
+    }
+  },
+  "warnings": [
+    "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+    "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics",
+    "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics"
+  ],
+  "diagnostic_image_paths": {
+    "zed_12540311_left_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+    },
+    "zed_12540311_right_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+    },
+    "zed_17736741_left_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+    },
+    "zed_17736741_right_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+    },
+    "zed_23007103_left_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+    },
+    "zed_23007103_right_rgb": {
+      "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+      "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+      "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+    }
+  }
+}

sessions/session_20260624_095554_523212/metadata/camera_settings_propagation.json

@@ -0,0 +1,163 @@
+{
+  "artifact_relpaths": [
+    "metadata/camera_settings/camera_settings_application_log.json",
+    "metadata/camera_settings/camera_settings_policy_applied.json",
+    "metadata/camera_settings/camera_settings_policy_source.json",
+    "metadata/camera_settings/camera_settings_readback_after_apply.json",
+    "metadata/camera_settings/camera_settings_readback_before_recording.json",
+    "metadata/camera_settings/camera_settings_recording_summary.json"
+  ],
+  "status": "present",
+  "summary": {
+    "applied_groups": {
+      "zed_12540311_stereo": {
+        "auto_controls_disabled": [
+          "auto_exposure"
+        ],
+        "auto_controls_remaining_enabled": [
+          "auto_white_balance"
+        ],
+        "brightness_scale_locked": true,
+        "color_balance_locked": false,
+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
+        ],
+        "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+        "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+        "exposure_gain_status": "manual_locked",
+        "manual_controls_written": [
+          "exposure",
+          "gain"
+        ],
+        "readback_controls": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 37.0,
+          "white_balance": 6500.0
+        },
+        "readback_reasons": [],
+        "readback_success": true,
+        "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+        "recording_mode": "partial_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+        "white_balance_status": "auto_remaining_enabled"
+      },
+      "zed_17736741_stereo": {
+        "auto_controls_disabled": [],
+        "auto_controls_remaining_enabled": [
+          "auto_exposure",
+          "auto_white_balance"
+        ],
+        "brightness_scale_locked": false,
+        "color_balance_locked": false,
+        "controls_allowed_to_drift_during_recording": [
+          "exposure",
+          "gain",
+          "white_balance"
+        ],
+        "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+        "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+        "exposure_gain_status": "auto_remaining_enabled",
+        "manual_controls_written": [],
+        "readback_controls": {
+          "auto_exposure": true,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 40.0,
+          "white_balance": 6500.0
+        },
+        "readback_reasons": [],
+        "readback_success": true,
+        "reconstruction_priority_class": "all_auto",
+        "recording_mode": "partial_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "selected_policy_id": "zed_keep_all_auto",
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+        "white_balance_status": "auto_remaining_enabled"
+      },
+      "zed_23007103_stereo": {
+        "auto_controls_disabled": [
+          "auto_exposure"
+        ],
+        "auto_controls_remaining_enabled": [
+          "auto_white_balance"
+        ],
+        "brightness_scale_locked": true,
+        "color_balance_locked": false,
+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
+        ],
+        "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+        "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+        "exposure_gain_status": "manual_locked",
+        "manual_controls_written": [
+          "exposure",
+          "gain"
+        ],
+        "readback_controls": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 46.0,
+          "white_balance": 6500.0
+        },
+        "readback_reasons": [],
+        "readback_success": true,
+        "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+        "recording_mode": "partial_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+        "white_balance_status": "auto_remaining_enabled"
+      }
+    },
+    "artifact_type": "camera_settings_recording_summary",
+    "diagnostic_image_paths": {
+      "zed_12540311_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+      },
+      "zed_12540311_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+      },
+      "zed_17736741_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+      },
+      "zed_17736741_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+      },
+      "zed_23007103_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+      },
+      "zed_23007103_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+      }
+    },
+    "policy_artifact_type": "minimal_auto_recording_policy",
+    "recording_mode": "partial_auto",
+    "selected_policy_ids": {
+      "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+      "zed_17736741_stereo": "zed_keep_all_auto",
+      "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
+    },
+    "warnings": [
+      "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+      "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics",
+      "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics"
+    ]
+  }
+}

sessions/session_20260624_095554_523212/metadata/conversion_plan.json

@@ -0,0 +1,1872 @@
+{
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": "calibration/calibration_package_manifest.json",
+    "missing_recording_serials": [],
+    "packaged_camera_serials": [
+      "12540311",
+      "17736741",
+      "23007103"
+    ],
+    "recording_camera_serials": [
+      "12540311",
+      "17736741",
+      "23007103"
+    ],
+    "source": "packaged-required",
+    "status": "present",
+    "transforms_index": {
+      "format": "npz",
+      "path": "world_T_camera_by_serial.npz",
+      "serials": [
+        "12540311",
+        "17736741",
+        "23007103"
+      ],
+      "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)",
+      "transform_name": "world_T_camera"
+    },
+    "transforms_index_path": "calibration/transforms_index.json",
+    "warnings": [],
+    "world_T_camera_bundle_path": "calibration/world_T_camera_by_serial.npz"
+  },
+  "camera_settings": {
+    "artifact_paths": {
+      "camera_settings_application_log.json": "camera_settings_application_log.json",
+      "camera_settings_policy_applied.json": "camera_settings_policy_applied.json",
+      "camera_settings_policy_source.json": "camera_settings_policy_source.json",
+      "camera_settings_readback_after_apply.json": "camera_settings_readback_after_apply.json",
+      "camera_settings_readback_before_recording.json": "camera_settings_readback_before_recording.json",
+      "camera_settings_recording_summary.json": "camera_settings_recording_summary.json"
+    },
+    "status": "present",
+    "summary": {
+      "applied_groups": {
+        "zed_12540311_stereo": {
+          "auto_controls_disabled": [
+            "auto_exposure"
+          ],
+          "auto_controls_remaining_enabled": [
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": true,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+          "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+          "exposure_gain_status": "manual_locked",
+          "manual_controls_written": [
+            "exposure",
+            "gain"
+          ],
+          "readback_controls": {
+            "auto_exposure": false,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 37.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        },
+        "zed_17736741_stereo": {
+          "auto_controls_disabled": [],
+          "auto_controls_remaining_enabled": [
+            "auto_exposure",
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": false,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "exposure",
+            "gain",
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+          "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+          "exposure_gain_status": "auto_remaining_enabled",
+          "manual_controls_written": [],
+          "readback_controls": {
+            "auto_exposure": true,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 40.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "all_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_keep_all_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        },
+        "zed_23007103_stereo": {
+          "auto_controls_disabled": [
+            "auto_exposure"
+          ],
+          "auto_controls_remaining_enabled": [
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": true,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+          "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+          "exposure_gain_status": "manual_locked",
+          "manual_controls_written": [
+            "exposure",
+            "gain"
+          ],
+          "readback_controls": {
+            "auto_exposure": false,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 46.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        }
+      },
+      "artifact_type": "camera_settings_recording_summary",
+      "diagnostic_image_paths": {
+        "zed_12540311_left_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+        },
+        "zed_12540311_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+        },
+        "zed_17736741_left_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+        },
+        "zed_17736741_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+        },
+        "zed_23007103_left_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+        },
+        "zed_23007103_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+        }
+      },
+      "policy_artifact_type": "minimal_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "selected_policy_ids": {
+        "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+        "zed_17736741_stereo": "zed_keep_all_auto",
+        "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
+      },
+      "warnings": [
+        "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+        "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics",
+        "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics"
+      ]
+    }
+  },
+  "depth_encoder": "zdepth",
+  "recording_dir": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212",
+  "recording_manifest_path": "recording_manifest.json",
+  "recording_metadata_path": "recording_metadata.json",
+  "streams": [
+    {
+      "actual_profile": {
+        "depth_mode": "NEURAL_PLUS",
+        "fps": 30.0,
+        "image_format": "rgb8",
+        "resolution": [
+          1080,
+          1920
+        ],
+        "stream_profile_name": "HD1080",
+        "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": 587,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15
+      },
+      "physical_camera_id": "zed_12540311",
+      "realsense_depth_scale_m": null,
+      "realsense_ir_format": null,
+      "recording_path": "ZED-M_SN12540311.svo2",
+      "requested_profile": {
+        "container": "svo2",
+        "depth_mode": "neural_plus",
+        "fps": 30,
+        "resolution_hw": [
+          1080,
+          1920
+        ],
+        "svo_compression_mode": "h265_lossless",
+        "zed_resolution": "hd1080"
+      },
+      "row_count": 587,
+      "serial_number": "12540311",
+      "stream_id": "zed_12540311_left_rgb",
+      "stream_manifest_path": "streams/zed_12540311_left_rgb/stream_manifest.json",
+      "timestamp_summary": {
+        "expected_fps": 30.0,
+        "gap_fail_threshold_ns": 116666666,
+        "large_gap_count": 0,
+        "large_gap_count_total": 0,
+        "max_device_gap_ns": 33676000,
+        "max_gap_ns_total": 33676000,
+        "max_host_gap_ns": 38195118,
+        "max_non_startup_gap_ns": 33676000,
+        "nominal_frame_period_ns": 33333333,
+        "non_startup_large_gap_count": 0,
+        "recorder_gap_report": {
+          "expected_fps": 30.0,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "max_gap_ns": 33676000,
+          "median_gap_ns": 33495000.0,
+          "observed_fps": 29.894898007127537,
+          "warnings": []
+        },
+        "row_count": 587,
+        "startup_excluded_large_gap_count": 0,
+        "startup_gap_excluded_from_warnings": false,
+        "validation_decision": "passed",
+        "validation_metrics": {
+          "expected_fps": 30.0,
+          "gap_policy": "warn",
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+            "max_within_stream_inter_frame_gap_multiplier": 1.0102800101028,
+            "max_within_stream_inter_frame_gap_ns": 33676000,
+            "median_period_error_ratio": 0.004850010048500101,
+            "median_within_stream_inter_frame_period_ns": 33495000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.894898007127537,
+            "observed_fps_ratio": 0.9964966002375846,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 33676000,
+              "median_gap_ns": 33495000.0,
+              "observed_fps": 29.894898007127537,
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+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 586,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 33676000,
+            "median_gap_ns": 33495000.0,
+            "observed_fps": 29.894898007127537,
+            "warnings": []
+          },
+          "warnings": []
+        },
+        "zed_12540311_left_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 1.0102800101028,
+            "max_within_stream_inter_frame_gap_ns": 33676000,
+            "median_period_error_ratio": 0.004850010048500101,
+            "median_within_stream_inter_frame_period_ns": 33495000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.894898007127537,
+            "observed_fps_ratio": 0.9964966002375846,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 33676000,
+              "median_gap_ns": 33495000.0,
+              "observed_fps": 29.894898007127537,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 586,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 33676000,
+            "median_gap_ns": 33495000.0,
+            "observed_fps": 29.894898007127537,
+            "warnings": []
+          },
+          "warnings": []
+        },
+        "zed_12540311_right_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 1.0102800101028,
+            "max_within_stream_inter_frame_gap_ns": 33676000,
+            "median_period_error_ratio": 0.004850010048500101,
+            "median_within_stream_inter_frame_period_ns": 33495000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.894898007127537,
+            "observed_fps_ratio": 0.9964966002375846,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 33676000,
+              "median_gap_ns": 33495000.0,
+              "observed_fps": 29.894898007127537,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 586,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 33676000,
+            "median_gap_ns": 33495000.0,
+            "observed_fps": 29.894898007127537,
+            "warnings": []
+          },
+          "warnings": []
+        },
+        "zed_17736741_depth_zed_sdk_neural_plus": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 1.0114800101148,
+            "max_within_stream_inter_frame_gap_ns": 33716000,
+            "median_period_error_ratio": 0.004850010048500101,
+            "median_within_stream_inter_frame_period_ns": 33495000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.899879793298968,
+            "observed_fps_ratio": 0.9966626597766323,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 33716000,
+              "median_gap_ns": 33495000.0,
+              "observed_fps": 29.899879793298968,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 586,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 33716000,
+            "median_gap_ns": 33495000.0,
+            "observed_fps": 29.899879793298968,
+            "warnings": []
+          },
+          "warnings": []
+        },
+        "zed_17736741_left_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 1.0114800101148,
+            "max_within_stream_inter_frame_gap_ns": 33716000,
+            "median_period_error_ratio": 0.004850010048500101,
+            "median_within_stream_inter_frame_period_ns": 33495000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.899879793298968,
+            "observed_fps_ratio": 0.9966626597766323,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 33716000,
+              "median_gap_ns": 33495000.0,
+              "observed_fps": 29.899879793298968,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 586,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 33716000,
+            "median_gap_ns": 33495000.0,
+            "observed_fps": 29.899879793298968,
+            "warnings": []
+          },
+          "warnings": []
+        },
+        "zed_17736741_right_rgb": {
+          "decision": "passed",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 1.0114800101148,
+            "max_within_stream_inter_frame_gap_ns": 33716000,
+            "median_period_error_ratio": 0.004850010048500101,
+            "median_within_stream_inter_frame_period_ns": 33495000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.899879793298968,
+            "observed_fps_ratio": 0.9966626597766323,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 0,
+              "large_gaps": [],
+              "max_gap_ns": 33716000,
+              "median_gap_ns": 33495000.0,
+              "observed_fps": 29.899879793298968,
+              "warnings": []
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 586,
+            "within_stream_large_gap_count": 0,
+            "within_stream_large_gap_rate": 0.0
+          },
+          "reasons": [],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 0,
+            "large_gaps": [],
+            "max_gap_ns": 33716000,
+            "median_gap_ns": 33495000.0,
+            "observed_fps": 29.899879793298968,
+            "warnings": []
+          },
+          "warnings": []
+        },
+        "zed_23007103_depth_zed_sdk_neural_plus": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 2.0059500200595,
+            "max_within_stream_inter_frame_gap_ns": 66865000,
+            "median_period_error_ratio": 0.004820010048200101,
+            "median_within_stream_inter_frame_period_ns": 33494000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.796188965389582,
+            "observed_fps_ratio": 0.9932062988463194,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 393,
+                  "gap_ns": 66825000,
+                  "to_row": 394
+                },
+                {
+                  "from_row": 397,
+                  "gap_ns": 66865000,
+                  "to_row": 398
+                }
+              ],
+              "max_gap_ns": 66865000,
+              "median_gap_ns": 33494000.0,
+              "observed_fps": 29.796188965389582,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 584,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.003424657534246575
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 393,
+                "gap_ns": 66825000,
+                "to_row": 394
+              },
+              {
+                "from_row": 397,
+                "gap_ns": 66865000,
+                "to_row": 398
+              }
+            ],
+            "max_gap_ns": 66865000,
+            "median_gap_ns": 33494000.0,
+            "observed_fps": 29.796188965389582,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_23007103_left_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 2.0059500200595,
+            "max_within_stream_inter_frame_gap_ns": 66865000,
+            "median_period_error_ratio": 0.004820010048200101,
+            "median_within_stream_inter_frame_period_ns": 33494000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.796188965389582,
+            "observed_fps_ratio": 0.9932062988463194,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 393,
+                  "gap_ns": 66825000,
+                  "to_row": 394
+                },
+                {
+                  "from_row": 397,
+                  "gap_ns": 66865000,
+                  "to_row": 398
+                }
+              ],
+              "max_gap_ns": 66865000,
+              "median_gap_ns": 33494000.0,
+              "observed_fps": 29.796188965389582,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 584,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.003424657534246575
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 393,
+                "gap_ns": 66825000,
+                "to_row": 394
+              },
+              {
+                "from_row": 397,
+                "gap_ns": 66865000,
+                "to_row": 398
+              }
+            ],
+            "max_gap_ns": 66865000,
+            "median_gap_ns": 33494000.0,
+            "observed_fps": 29.796188965389582,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        },
+        "zed_23007103_right_rgb": {
+          "decision": "passed_with_warnings",
+          "metrics": {
+            "expected_fps": 30.0,
+            "gap_policy": "warn",
+            "large_gap_warning_threshold_ns": 50000000,
+            "max_stall_fail_threshold_ns": 116666666,
+            "max_within_stream_inter_frame_gap_multiplier": 2.0059500200595,
+            "max_within_stream_inter_frame_gap_ns": 66865000,
+            "median_period_error_ratio": 0.004820010048200101,
+            "median_within_stream_inter_frame_period_ns": 33494000.0,
+            "nominal_frame_period_ns": 33333333,
+            "observed_fps": 29.796188965389582,
+            "observed_fps_ratio": 0.9932062988463194,
+            "recorder_timestamp_summary": {
+              "expected_fps": 30.0,
+              "large_gap_count": 2,
+              "large_gaps": [
+                {
+                  "from_row": 393,
+                  "gap_ns": 66825000,
+                  "to_row": 394
+                },
+                {
+                  "from_row": 397,
+                  "gap_ns": 66865000,
+                  "to_row": 398
+                }
+              ],
+              "max_gap_ns": 66865000,
+              "median_gap_ns": 33494000.0,
+              "observed_fps": 29.796188965389582,
+              "warnings": [
+                "large_timestamp_gap"
+              ]
+            },
+            "startup_gap_excluded_from_warnings": false,
+            "timing_column": "device_timestamp_ns",
+            "within_stream_inter_frame_interval_count": 584,
+            "within_stream_large_gap_count": 2,
+            "within_stream_large_gap_rate": 0.003424657534246575
+          },
+          "reasons": [
+            "sparse_within_stream_inter_frame_timestamp_gaps"
+          ],
+          "recorder_timestamp_summary": {
+            "expected_fps": 30.0,
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 393,
+                "gap_ns": 66825000,
+                "to_row": 394
+              },
+              {
+                "from_row": 397,
+                "gap_ns": 66865000,
+                "to_row": 398
+              }
+            ],
+            "max_gap_ns": 66865000,
+            "median_gap_ns": 33494000.0,
+            "observed_fps": 29.796188965389582,
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "warnings": [
+            "sparse_within_stream_inter_frame_timestamp_gap"
+          ]
+        }
+      }
+    }
+  }
+}

sessions/session_20260624_095554_523212/metadata/conversion_plan_validation_report.json

@@ -0,0 +1,1511 @@
+{
+  "authoritative_timestamps": "streams/<stream_id>/timestamps.parquet",
+  "calibration": {
+    "calibration_dir": "calibration",
+    "manifest_path": "calibration/calibration_package_manifest.json",
+    "missing_recording_serials": [],
+    "packaged_camera_serials": [
+      "12540311",
+      "17736741",
+      "23007103"
+    ],
+    "recording_camera_serials": [
+      "12540311",
+      "17736741",
+      "23007103"
+    ],
+    "source": "packaged-required",
+    "status": "present",
+    "transforms_index": {
+      "format": "npz",
+      "path": "world_T_camera_by_serial.npz",
+      "serials": [
+        "12540311",
+        "17736741",
+        "23007103"
+      ],
+      "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)",
+      "transform_name": "world_T_camera"
+    },
+    "transforms_index_path": "calibration/transforms_index.json",
+    "warnings": [],
+    "world_T_camera_bundle_path": "calibration/world_T_camera_by_serial.npz"
+  },
+  "camera_settings": {
+    "artifact_paths": {
+      "camera_settings_application_log.json": "camera_settings_application_log.json",
+      "camera_settings_policy_applied.json": "camera_settings_policy_applied.json",
+      "camera_settings_policy_source.json": "camera_settings_policy_source.json",
+      "camera_settings_readback_after_apply.json": "camera_settings_readback_after_apply.json",
+      "camera_settings_readback_before_recording.json": "camera_settings_readback_before_recording.json",
+      "camera_settings_recording_summary.json": "camera_settings_recording_summary.json"
+    },
+    "status": "present",
+    "summary": {
+      "applied_groups": {
+        "zed_12540311_stereo": {
+          "auto_controls_disabled": [
+            "auto_exposure"
+          ],
+          "auto_controls_remaining_enabled": [
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": true,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+          "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+          "exposure_gain_status": "manual_locked",
+          "manual_controls_written": [
+            "exposure",
+            "gain"
+          ],
+          "readback_controls": {
+            "auto_exposure": false,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 37.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        },
+        "zed_17736741_stereo": {
+          "auto_controls_disabled": [],
+          "auto_controls_remaining_enabled": [
+            "auto_exposure",
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": false,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "exposure",
+            "gain",
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+          "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+          "exposure_gain_status": "auto_remaining_enabled",
+          "manual_controls_written": [],
+          "readback_controls": {
+            "auto_exposure": true,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 40.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "all_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_keep_all_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        },
+        "zed_23007103_stereo": {
+          "auto_controls_disabled": [
+            "auto_exposure"
+          ],
+          "auto_controls_remaining_enabled": [
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": true,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+          "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+          "exposure_gain_status": "manual_locked",
+          "manual_controls_written": [
+            "exposure",
+            "gain"
+          ],
+          "readback_controls": {
+            "auto_exposure": false,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 46.0,
+            "white_balance": 6500.0
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+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        }
+      },
+      "artifact_type": "camera_settings_recording_summary",
+      "diagnostic_image_paths": {
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+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+        },
+        "zed_12540311_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+        },
+        "zed_17736741_left_rgb": {
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+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+        },
+        "zed_17736741_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+        },
+        "zed_23007103_left_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+        },
+        "zed_23007103_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+        }
+      },
+      "policy_artifact_type": "minimal_auto_recording_policy",
+      "recording_mode": "partial_auto",
+      "selected_policy_ids": {
+        "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+        "zed_17736741_stereo": "zed_keep_all_auto",
+        "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
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+      "warnings": [
+        "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+        "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics",
+        "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics"
+      ]
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+  },
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+  "recording_timestamp_gap_warnings": {
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+      "zed_23007103_left_rgb": {
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+      },
+      "zed_23007103_right_rgb": {
+        "decision": "passed_with_warnings",
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+        "recorder_timestamp_summary": {
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+    "zed_23007103_right_rgb",
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sessions/session_20260624_095554_523212/metadata/conversion_timing.json

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+    "zdepth_fidelity_metrics.zed_23007103_depth_zed_sdk_neural_plus": 10.830386993591674,
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+    "zdepth_finalize.zed_23007103_depth_zed_sdk_neural_plus": 0.37244726094650105,
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+    "zdepth_quantize.zed_17736741_depth_zed_sdk_neural_plus": 14.303892682306468,
+    "zdepth_quantize.zed_23007103_depth_zed_sdk_neural_plus": 13.550169167225249,
+    "zed_container_export.ZED-M_SN12540311.svo2": 75.57038387900684,
+    "zed_container_export.ZED-M_SN17736741.svo2": 75.56618861400057,
+    "zed_container_export.ZED-M_SN23007103.svo2": 71.51579702098388,
+    "zed_equivalence_probe.ZED-M_SN12540311.svo2": 4.236135156999808,
+    "zed_equivalence_probe.ZED-M_SN17736741.svo2": 4.033555317029823,
+    "zed_equivalence_probe.ZED-M_SN23007103.svo2": 2.492991121020168,
+    "zed_frame_loop.ZED-M_SN12540311.svo2": 65.49362190201646,
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+    "zed_frame_loop.ZED-M_SN23007103.svo2": 64.77389491797658,
+    "zed_intrinsics_probe.ZED-M_SN12540311.svo2": 2.022737543040421,
+    "zed_intrinsics_probe.ZED-M_SN17736741.svo2": 1.759845750988461,
+    "zed_intrinsics_probe.ZED-M_SN23007103.svo2": 1.2391778110177256,
+    "zed_sink_close.ZED-M_SN12540311.svo2": 1.841577496030368,
+    "zed_sink_close.ZED-M_SN17736741.svo2": 1.758587766031269,
+    "zed_sink_close.ZED-M_SN23007103.svo2": 1.7958196339895949
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+  "metadata": {
+    "auto_lossless_probe_cache_hits": 0,
+    "auto_lossless_probe_cache_misses": 6,
+    "auto_lossless_probe_cache_path": "/home/magna/.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": "{\"/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.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\": \"/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_12540311_left_rgb\", \"zed_12540311_right_rgb\", \"zed_12540311_depth_zed_sdk_neural_plus\"]}, \"/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN17736741.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\": \"/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN17736741.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_17736741_left_rgb\", \"zed_17736741_right_rgb\", \"zed_17736741_depth_zed_sdk_neural_plus\"]}, \"/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN23007103.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\": \"/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN23007103.svo2\", \"rgb_equivalence_left_equal\": true, \"rgb_equivalence_passed\": true, \"rgb_equivalence_right_equal\": true, \"stream_ids\": [\"zed_23007103_left_rgb\", \"zed_23007103_right_rgb\", \"zed_23007103_depth_zed_sdk_neural_plus\"]}}",
+    "grouped_zed_export": true,
+    "recording_pairing_validation_cache_miss_reason": "missing validation artifact",
+    "source_hash_cache_hits": 3,
+    "source_hash_cache_misses": 0,
+    "source_hash_cache_path": "/home/magna/.cache/belt_perception/source_hash_cache.json",
+    "source_hash_cache_policy": "auto",
+    "source_hash_worker_count": 3,
+    "zed_svo_probe_cache_equivalence_hits": 0,
+    "zed_svo_probe_cache_equivalence_misses": 3,
+    "zed_svo_probe_cache_intrinsics_hits": 0,
+    "zed_svo_probe_cache_intrinsics_misses": 3,
+    "zed_svo_probe_cache_path": "/home/magna/.cache/belt_perception/zed_svo_probe_cache.json",
+    "zed_svo_probe_cache_policy": "auto"
+  },
+  "overall_elapsed_s": 301.44658244604943
+}

sessions/session_20260624_095554_523212/metadata/discovery_report.json

@@ -0,0 +1,2135 @@
+{
+  "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_SN12540311.csv",
+      "timestamps_zed_SN17736741.csv",
+      "timestamps_zed_SN23007103.csv"
+    ],
+    "semantics": "compatibility/debug artifacts only; manifest Parquet sidecars are authoritative"
+  },
+  "recording_dir": "recordings/20260624_095554_523212",
+  "recording_manifest": {
+    "authoritative_timestamp_source": "streams/<stream_id>/timestamps.parquet",
+    "container_pts_for_synchronization": false,
+    "manifest_timestamp_sidecars": [
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_12540311_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12540311_left_rgb/timestamps.parquet",
+        "stream_id": "zed_12540311_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_12540311_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12540311_right_rgb/timestamps.parquet",
+        "stream_id": "zed_12540311_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_12540311_depth_zed_sdk_neural_plus"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_17736741_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_17736741_left_rgb/timestamps.parquet",
+        "stream_id": "zed_17736741_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_17736741_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_17736741_right_rgb/timestamps.parquet",
+        "stream_id": "zed_17736741_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_17736741_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_17736741_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_17736741_depth_zed_sdk_neural_plus"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_23007103_left_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_23007103_left_rgb/timestamps.parquet",
+        "stream_id": "zed_23007103_left_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_23007103_right_rgb/timestamps.parquet",
+        "recording_relative_path": "streams/zed_23007103_right_rgb/timestamps.parquet",
+        "stream_id": "zed_23007103_right_rgb"
+      },
+      {
+        "authoritative": true,
+        "path": "recordings/20260624_095554_523212/streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "recording_relative_path": "streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet",
+        "stream_id": "zed_23007103_depth_zed_sdk_neural_plus"
+      }
+    ],
+    "path": "recordings/20260624_095554_523212/recording_manifest.json",
+    "present": true,
+    "stream_count": 9
+  },
+  "recording_metadata": {
+    "calibration": {
+      "calibration_package_dir": "calibration",
+      "calibration_package_manifest": "calibration/calibration_package_manifest.json",
+      "camera_serials": [
+        "12540311",
+        "17736741",
+        "23007103"
+      ],
+      "extra_calibrated_serials": [],
+      "final_transform_source": "combined_fixed_movable_ba",
+      "ignored_invalid_extra_calibrated_serials": [],
+      "ignored_invalid_extra_errors_by_serial": {},
+      "invalid_optional_files": {},
+      "missing_calibrated_serials": [],
+      "missing_optional_files": [],
+      "packaged": true,
+      "packaged_camera_serials": [
+        "12540311",
+        "17736741",
+        "23007103"
+      ],
+      "pose_source": "phase_05_final",
+      "source_calibration_run_dir": "calibration_results/multicam/20260623_165552",
+      "source_recording_camera_metadata_mismatches": {},
+      "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)",
+      "world_T_camera_bundle": "calibration/world_T_camera_by_serial.npz",
+      "world_T_camera_bundle_sha256": "cf9641ab7781a8e04f7d56125320957faeeeb2eb1def012e684b7d40655df6f4",
+      "world_frame": "table"
+    },
+    "camera_rig_profile_name": "round-belt-three-zed",
+    "camera_settings_policy": {
+      "applied_groups": {
+        "zed_12540311_stereo": {
+          "auto_controls_disabled": [
+            "auto_exposure"
+          ],
+          "auto_controls_remaining_enabled": [
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": true,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+          "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+          "exposure_gain_status": "manual_locked",
+          "manual_controls_written": [
+            "exposure",
+            "gain"
+          ],
+          "readback_controls": {
+            "auto_exposure": false,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 37.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        },
+        "zed_17736741_stereo": {
+          "auto_controls_disabled": [],
+          "auto_controls_remaining_enabled": [
+            "auto_exposure",
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": false,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "exposure",
+            "gain",
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+          "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+          "exposure_gain_status": "auto_remaining_enabled",
+          "manual_controls_written": [],
+          "readback_controls": {
+            "auto_exposure": true,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 40.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "all_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_keep_all_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        },
+        "zed_23007103_stereo": {
+          "auto_controls_disabled": [
+            "auto_exposure"
+          ],
+          "auto_controls_remaining_enabled": [
+            "auto_white_balance"
+          ],
+          "brightness_scale_locked": true,
+          "color_balance_locked": false,
+          "controls_allowed_to_drift_during_recording": [
+            "white_balance"
+          ],
+          "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+          "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+          "exposure_gain_status": "manual_locked",
+          "manual_controls_written": [
+            "exposure",
+            "gain"
+          ],
+          "readback_controls": {
+            "auto_exposure": false,
+            "auto_white_balance": true,
+            "exposure": 90.0,
+            "gain": 46.0,
+            "white_balance": 6500.0
+          },
+          "readback_reasons": [],
+          "readback_success": true,
+          "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+          "recording_mode": "partial_auto",
+          "recording_readiness": "partial_auto_recording_policy",
+          "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+          "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+          "white_balance_status": "auto_remaining_enabled"
+        }
+      },
+      "artifact_type": "camera_settings_recording_summary",
+      "camera_control_acquisition_signature_policy": {
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        },
+        "fps": 30,
+        "realsense_fps": 30,
+        "realsense_resolution_hw": [
+          720,
+          1280
+        ],
+        "schema_version": 1,
+        "zed_fps": 30,
+        "zed_stream_profile_name": "HD1080"
+      },
+      "camera_control_acquisition_signature_recorder": {
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        },
+        "fps": null,
+        "policy_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ],
+        "realsense_fps": 0,
+        "realsense_resolution_hw": [],
+        "schema_version": 1,
+        "zed_fps": 30,
+        "zed_stream_profile_name": "HD1080"
+      },
+      "diagnostic_image_paths": {
+        "zed_12540311_left_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+        },
+        "zed_12540311_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+        },
+        "zed_17736741_left_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+        },
+        "zed_17736741_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+        },
+        "zed_23007103_left_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+        },
+        "zed_23007103_right_rgb": {
+          "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+          "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+          "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+        }
+      },
+      "policy_artifact_type": "minimal_auto_recording_policy",
+      "policy_compatibility": {
+        "artifact_type": "camera_settings_policy_compatibility",
+        "camera_control_acquisition_signature_policy": {
+          "camera_rig_profile_name": "round-belt-three-zed",
+          "controlled_cameras": {
+            "zed_12540311_stereo": {
+              "camera_type": "zed",
+              "serial_number": "12540311",
+              "settings_group_id": "zed_12540311_stereo"
+            },
+            "zed_17736741_stereo": {
+              "camera_type": "zed",
+              "serial_number": "17736741",
+              "settings_group_id": "zed_17736741_stereo"
+            },
+            "zed_23007103_stereo": {
+              "camera_type": "zed",
+              "serial_number": "23007103",
+              "settings_group_id": "zed_23007103_stereo"
+            }
+          },
+          "fps": 30,
+          "realsense_fps": 30,
+          "realsense_resolution_hw": [
+            720,
+            1280
+          ],
+          "schema_version": 1,
+          "zed_fps": 30,
+          "zed_stream_profile_name": "HD1080"
+        },
+        "camera_control_acquisition_signature_recorder": {
+          "camera_rig_profile_name": "round-belt-three-zed",
+          "controlled_cameras": {
+            "zed_12540311_stereo": {
+              "camera_type": "zed",
+              "serial_number": "12540311",
+              "settings_group_id": "zed_12540311_stereo"
+            },
+            "zed_17736741_stereo": {
+              "camera_type": "zed",
+              "serial_number": "17736741",
+              "settings_group_id": "zed_17736741_stereo"
+            },
+            "zed_23007103_stereo": {
+              "camera_type": "zed",
+              "serial_number": "23007103",
+              "settings_group_id": "zed_23007103_stereo"
+            }
+          },
+          "fps": null,
+          "policy_rgb_stream_ids": [
+            "zed_12540311_left_rgb",
+            "zed_12540311_right_rgb",
+            "zed_17736741_left_rgb",
+            "zed_17736741_right_rgb",
+            "zed_23007103_left_rgb",
+            "zed_23007103_right_rgb"
+          ],
+          "realsense_fps": 0,
+          "realsense_resolution_hw": [],
+          "schema_version": 1,
+          "zed_fps": 30,
+          "zed_stream_profile_name": "HD1080"
+        },
+        "errors": [],
+        "exact_match_fields": [
+          "controlled_cameras",
+          "camera_rig_profile_name",
+          "zed_fps",
+          "zed_stream_profile_name"
+        ],
+        "field_comparisons": {
+          "camera_rig_profile_name": {
+            "match": true,
+            "policy": "round-belt-three-zed",
+            "recorder": "round-belt-three-zed"
+          },
+          "realsense_fps": {
+            "match": true,
+            "policy": 30,
+            "reason": "Recorder session has no realsense cameras; policy value ignored.",
+            "recorder": 0,
+            "skipped": true
+          },
+          "realsense_resolution_hw": {
+            "match": true,
+            "policy": [
+              720,
+              1280
+            ],
+            "reason": "Recorder session has no RealSense cameras; policy value ignored.",
+            "recorder": [],
+            "skipped": true
+          },
+          "zed_fps": {
+            "match": true,
+            "policy": 30,
+            "recorder": 30
+          },
+          "zed_stream_profile_name": {
+            "match": true,
+            "policy": "HD1080",
+            "recorder": "HD1080"
+          }
+        },
+        "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+        "policy_artifact_schema_version": 1,
+        "policy_artifact_type": "minimal_auto_recording_policy",
+        "schema_version": 1,
+        "status": "compatible",
+        "tolerated_differences": [
+          {
+            "field": "realsense_fps",
+            "policy": 30,
+            "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras.",
+            "recorder": 0
+          },
+          {
+            "field": "realsense_resolution_hw",
+            "policy": [
+              720,
+              1280
+            ],
+            "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras.",
+            "recorder": []
+          },
+          {
+            "field": "enabled_rgb_stream_ids",
+            "policy": [],
+            "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only.",
+            "recorder": [
+              "zed_12540311_left_rgb",
+              "zed_12540311_right_rgb",
+              "zed_17736741_left_rgb",
+              "zed_17736741_right_rgb",
+              "zed_23007103_left_rgb",
+              "zed_23007103_right_rgb"
+            ]
+          },
+          {
+            "field": "realsense_streams",
+            "policy": null,
+            "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation.",
+            "recorder": [
+              "color",
+              "depth"
+            ]
+          },
+          {
+            "field": "zed_depth_mode",
+            "policy": null,
+            "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state.",
+            "recorder": "NEURAL_PLUS"
+          },
+          {
+            "field": "zed_svo_compression_mode",
+            "policy": null,
+            "reason": "SVO compression is a container concern, not RGB camera-control state.",
+            "recorder": "H265_LOSSLESS"
+          }
+        ],
+        "warnings": [
+          "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.",
+          "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).",
+          "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).",
+          "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)."
+        ]
+      },
+      "recording_mode": "partial_auto",
+      "selected_policy_ids": {
+        "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+        "zed_17736741_stereo": "zed_keep_all_auto",
+        "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
+      },
+      "warnings": [
+        "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+        "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics",
+        "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics"
+      ]
+    },
+    "camera_settings_policy_acquisition_validation": {
+      "actual_opened_acquisition": {
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "enabled_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ],
+        "per_camera": {
+          "zed_12540311": {
+            "camera_name": "newerr",
+            "camera_type": "zed",
+            "depth_mode": "NEURAL_PLUS",
+            "fps": 30.0,
+            "image_format": "rgb8",
+            "resolution": [
+              1080,
+              1920
+            ],
+            "serial_number": "12540311",
+            "stream_profile_name": "HD1080",
+            "svo_compression_mode": "H265_LOSSLESS",
+            "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+          },
+          "zed_17736741": {
+            "camera_name": "amazonbasics",
+            "camera_type": "zed",
+            "depth_mode": "NEURAL_PLUS",
+            "fps": 30.0,
+            "image_format": "rgb8",
+            "resolution": [
+              1080,
+              1920
+            ],
+            "serial_number": "17736741",
+            "stream_profile_name": "HD1080",
+            "svo_compression_mode": "H265_LOSSLESS",
+            "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+          },
+          "zed_23007103": {
+            "camera_name": "zed-23007103",
+            "camera_type": "zed",
+            "depth_mode": "NEURAL_PLUS",
+            "fps": 30.0,
+            "image_format": "rgb8",
+            "resolution": [
+              1080,
+              1920
+            ],
+            "serial_number": "23007103",
+            "stream_profile_name": "HD1080",
+            "svo_compression_mode": "H265_LOSSLESS",
+            "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+          }
+        }
+      },
+      "camera_control_acquisition_signature_policy": {
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        },
+        "fps": 30,
+        "realsense_fps": 30,
+        "realsense_resolution_hw": [
+          720,
+          1280
+        ],
+        "schema_version": 1,
+        "zed_fps": 30,
+        "zed_stream_profile_name": "HD1080"
+      },
+      "camera_control_acquisition_signature_recorder": {
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        },
+        "fps": null,
+        "policy_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ],
+        "realsense_fps": 0,
+        "realsense_resolution_hw": [],
+        "schema_version": 1,
+        "zed_fps": 30,
+        "zed_stream_profile_name": "HD1080"
+      },
+      "compatibility": {
+        "artifact_type": "camera_settings_policy_compatibility",
+        "camera_control_acquisition_signature_policy": {
+          "camera_rig_profile_name": "round-belt-three-zed",
+          "controlled_cameras": {
+            "zed_12540311_stereo": {
+              "camera_type": "zed",
+              "serial_number": "12540311",
+              "settings_group_id": "zed_12540311_stereo"
+            },
+            "zed_17736741_stereo": {
+              "camera_type": "zed",
+              "serial_number": "17736741",
+              "settings_group_id": "zed_17736741_stereo"
+            },
+            "zed_23007103_stereo": {
+              "camera_type": "zed",
+              "serial_number": "23007103",
+              "settings_group_id": "zed_23007103_stereo"
+            }
+          },
+          "fps": 30,
+          "realsense_fps": 30,
+          "realsense_resolution_hw": [
+            720,
+            1280
+          ],
+          "schema_version": 1,
+          "zed_fps": 30,
+          "zed_stream_profile_name": "HD1080"
+        },
+        "camera_control_acquisition_signature_recorder": {
+          "camera_rig_profile_name": "round-belt-three-zed",
+          "controlled_cameras": {
+            "zed_12540311_stereo": {
+              "camera_type": "zed",
+              "serial_number": "12540311",
+              "settings_group_id": "zed_12540311_stereo"
+            },
+            "zed_17736741_stereo": {
+              "camera_type": "zed",
+              "serial_number": "17736741",
+              "settings_group_id": "zed_17736741_stereo"
+            },
+            "zed_23007103_stereo": {
+              "camera_type": "zed",
+              "serial_number": "23007103",
+              "settings_group_id": "zed_23007103_stereo"
+            }
+          },
+          "fps": null,
+          "policy_rgb_stream_ids": [
+            "zed_12540311_left_rgb",
+            "zed_12540311_right_rgb",
+            "zed_17736741_left_rgb",
+            "zed_17736741_right_rgb",
+            "zed_23007103_left_rgb",
+            "zed_23007103_right_rgb"
+          ],
+          "realsense_fps": 0,
+          "realsense_resolution_hw": [],
+          "schema_version": 1,
+          "zed_fps": 30,
+          "zed_stream_profile_name": "HD1080"
+        },
+        "errors": [],
+        "exact_match_fields": [
+          "controlled_cameras",
+          "camera_rig_profile_name",
+          "zed_fps",
+          "zed_stream_profile_name"
+        ],
+        "field_comparisons": {
+          "camera_rig_profile_name": {
+            "match": true,
+            "policy": "round-belt-three-zed",
+            "recorder": "round-belt-three-zed"
+          },
+          "realsense_fps": {
+            "match": true,
+            "policy": 30,
+            "reason": "Recorder session has no realsense cameras; policy value ignored.",
+            "recorder": 0,
+            "skipped": true
+          },
+          "realsense_resolution_hw": {
+            "match": true,
+            "policy": [
+              720,
+              1280
+            ],
+            "reason": "Recorder session has no RealSense cameras; policy value ignored.",
+            "recorder": [],
+            "skipped": true
+          },
+          "zed_fps": {
+            "match": true,
+            "policy": 30,
+            "recorder": 30
+          },
+          "zed_stream_profile_name": {
+            "match": true,
+            "policy": "HD1080",
+            "recorder": "HD1080"
+          }
+        },
+        "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+        "policy_artifact_schema_version": 1,
+        "policy_artifact_type": "minimal_auto_recording_policy",
+        "schema_version": 1,
+        "status": "compatible",
+        "tolerated_differences": [
+          {
+            "field": "realsense_fps",
+            "policy": 30,
+            "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras.",
+            "recorder": 0
+          },
+          {
+            "field": "realsense_resolution_hw",
+            "policy": [
+              720,
+              1280
+            ],
+            "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras.",
+            "recorder": []
+          },
+          {
+            "field": "enabled_rgb_stream_ids",
+            "policy": [],
+            "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only.",
+            "recorder": [
+              "zed_12540311_left_rgb",
+              "zed_12540311_right_rgb",
+              "zed_17736741_left_rgb",
+              "zed_17736741_right_rgb",
+              "zed_23007103_left_rgb",
+              "zed_23007103_right_rgb"
+            ]
+          },
+          {
+            "field": "realsense_streams",
+            "policy": null,
+            "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation.",
+            "recorder": [
+              "color",
+              "depth"
+            ]
+          },
+          {
+            "field": "zed_depth_mode",
+            "policy": null,
+            "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state.",
+            "recorder": "NEURAL_PLUS"
+          },
+          {
+            "field": "zed_svo_compression_mode",
+            "policy": null,
+            "reason": "SVO compression is a container concern, not RGB camera-control state.",
+            "recorder": "H265_LOSSLESS"
+          }
+        ],
+        "warnings": [
+          "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.",
+          "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).",
+          "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).",
+          "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)."
+        ]
+      },
+      "recording_config_acquisition": {
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "capture_profile_name": "zed-1080p30",
+        "enabled_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ],
+        "fps": null,
+        "per_camera": {
+          "zed_12540311": {
+            "camera_type": "zed",
+            "fps": 30.0,
+            "image_format": "rgb8",
+            "resolution": [
+              1080,
+              1920
+            ],
+            "serial_number": "12540311",
+            "stream_profile_name": "HD1080"
+          },
+          "zed_17736741": {
+            "camera_type": "zed",
+            "fps": 30.0,
+            "image_format": "rgb8",
+            "resolution": [
+              1080,
+              1920
+            ],
+            "serial_number": "17736741",
+            "stream_profile_name": "HD1080"
+          },
+          "zed_23007103": {
+            "camera_type": "zed",
+            "fps": 30.0,
+            "image_format": "rgb8",
+            "resolution": [
+              1080,
+              1920
+            ],
+            "serial_number": "23007103",
+            "stream_profile_name": "HD1080"
+          }
+        },
+        "realsense_image_format": null,
+        "realsense_resolution_hw": null,
+        "realsense_streams": [
+          "color",
+          "depth"
+        ],
+        "zed_depth_mode": "NEURAL_PLUS",
+        "zed_stream_profile_name": "HD1080",
+        "zed_svo_compression_mode": "H265_LOSSLESS"
+      },
+      "requested_acquisition": {
+        "allow_stereo_pair_left_depth_as_group_occlusion_check": true,
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "capture_profile_name": "zed-1080p30",
+        "depth_min_valid_fraction": 0.25,
+        "depth_statistic": "adaptive",
+        "depth_unknown_policy": "allow_with_warning",
+        "enable_zed_depth_for_occlusion": false,
+        "enabled_rgb_stream_ids": [],
+        "exclude_patch_ids": [],
+        "foreground_margin_m": 0.05,
+        "fps": 30,
+        "image_format": null,
+        "patch_visibility_override": null,
+        "preflight_probe_timeout_s": 5.0,
+        "realsense_duplicate_frame_policy": "wait_for_new",
+        "realsense_duplicate_max_count": null,
+        "realsense_duplicate_timeout_s": 2.0,
+        "realsense_image_format": null,
+        "realsense_rectify_color": true,
+        "realsense_resolution_hw": null,
+        "resolution": null,
+        "stream_profile_name": null,
+        "zed_depth_mode_for_occlusion": "NEURAL_PLUS",
+        "zed_depth_occlusion_policy": "disabled",
+        "zed_stream_profile_name": null
+      },
+      "status": "compatible"
+    },
+    "cameras": [
+      {
+        "actual_opened_profile": {
+          "depth_mode": "NEURAL_PLUS",
+          "fps": 30.0,
+          "image_format": "rgb8",
+          "resolution": [
+            1080,
+            1920
+          ],
+          "stream_profile_name": "HD1080",
+          "svo_compression_mode": "H265_LOSSLESS",
+          "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+        },
+        "camera_metadata": {
+          "camera_id": "newerr",
+          "camera_type": "zed",
+          "capabilities": [
+            "aligned_depth_to_color",
+            "stereo_color",
+            "depth",
+            "raw_depth",
+            "color",
+            "right_color"
+          ],
+          "color_T_depth": null,
+          "color_T_ir_left": null,
+          "color_T_ir_right": null,
+          "color_camera_frame": null,
+          "color_intrinsics": [
+            [
+              1505.6881103515625,
+              0.0,
+              975.8021850585938
+            ],
+            [
+              0.0,
+              1505.6881103515625,
+              520.245361328125
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_T_color": null,
+          "depth_camera_frame": "zed_12540311_left_rgb_camera",
+          "depth_frame_convention": "ZED sl.MEASURE.DEPTH depth maps are expressed in the left RGB camera optical frame.",
+          "depth_intrinsics": [
+            [
+              1505.6881103515625,
+              0.0,
+              975.8021850585938
+            ],
+            [
+              0.0,
+              1505.6881103515625,
+              520.245361328125
+            ],
+            [
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "depth_scale_m": null,
+          "fps": 30.0,
+          "ir_left_T_color": null,
+          "ir_left_camera_frame": null,
+          "ir_right_T_color": null,
+          "ir_right_camera_frame": null,
+          "left_camera_frame": "zed_12540311_left_rgb_camera",
+          "left_rgb_camera_T_right_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.06312009692192078
+            ],
+            [
+              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_product": null,
+            "usb_speed_mbps": null,
+            "usb_type_descriptor": null
+          },
+          "model": "ZED-M",
+          "resolution_hw": [
+            1080,
+            1920
+          ],
+          "right_camera_frame": "zed_12540311_right_rgb_camera",
+          "right_rgb_camera_T_left_rgb_camera": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.06312009692192078
+            ],
+            [
+              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": "12540311",
+          "stereo_baseline_m": 0.06312009692192078,
+          "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": 587,
+        "name": "newerr",
+        "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": 587,
+        "post_native_discarded_frame_count": 0,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15,
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+        "first_official_native_frame_index": 1,
+        "frame_count": 585,
+        "name": "zed-23007103",
+        "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": 585,
+        "post_native_discarded_frame_count": 0,
+        "post_native_priming_frame_count": 1,
+        "preroll_frame_count": 15,
+        "recording_path": "ZED-M_SN23007103.svo2",
+        "serial_number": "23007103",
+        "stream_summaries": {
+          "zed_23007103_depth_zed_sdk_neural_plus": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 33333333,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 30.0,
+            "first_inter_frame_gap_ns": 31294000,
+            "host_timestamp_max_ns": 1782309401969942122,
+            "host_timestamp_min_ns": 1782309382370176533,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 393,
+                "gap_ns": 66825000,
+                "to_row": 394
+              },
+              {
+                "from_row": 397,
+                "gap_ns": 66865000,
+                "to_row": 398
+              }
+            ],
+            "max_gap_ns": 66865000,
+            "median_gap_ns": 33494000.0,
+            "modality": "depth",
+            "nominal_frame_period_ns": 33333333,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 29.796188965389582,
+            "official_frame_count": 585,
+            "physical_camera_id": "zed_23007103",
+            "preroll_frame_count": 15,
+            "row_count": 585,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "23007103",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
+            "strict_alignment_warning_tolerance_ns": 16666666,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 50000000,
+            "timestamp_max_ns": 1782309401930600158,
+            "timestamp_min_ns": 1782309382330778158,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "zed_23007103_left_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 33333333,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 30.0,
+            "first_inter_frame_gap_ns": 31294000,
+            "host_timestamp_max_ns": 1782309401969942122,
+            "host_timestamp_min_ns": 1782309382370176533,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 393,
+                "gap_ns": 66825000,
+                "to_row": 394
+              },
+              {
+                "from_row": 397,
+                "gap_ns": 66865000,
+                "to_row": 398
+              }
+            ],
+            "max_gap_ns": 66865000,
+            "median_gap_ns": 33494000.0,
+            "modality": "left_rgb",
+            "nominal_frame_period_ns": 33333333,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 29.796188965389582,
+            "official_frame_count": 585,
+            "physical_camera_id": "zed_23007103",
+            "preroll_frame_count": 15,
+            "row_count": 585,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "23007103",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_23007103_left_rgb",
+            "strict_alignment_warning_tolerance_ns": 16666666,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 50000000,
+            "timestamp_max_ns": 1782309401930600158,
+            "timestamp_min_ns": 1782309382330778158,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          },
+          "zed_23007103_right_rgb": {
+            "camera_type": "zed",
+            "default_nearest_neighbor_tolerance_ns": 33333333,
+            "duplicate_timestamp_count": 0,
+            "expected_fps": 30.0,
+            "first_inter_frame_gap_ns": 31294000,
+            "host_timestamp_max_ns": 1782309401969942122,
+            "host_timestamp_min_ns": 1782309382370176533,
+            "host_timestamp_source": "time.time_ns_after_record_frame",
+            "large_gap_count": 2,
+            "large_gaps": [
+              {
+                "from_row": 393,
+                "gap_ns": 66825000,
+                "to_row": 394
+              },
+              {
+                "from_row": 397,
+                "gap_ns": 66865000,
+                "to_row": 398
+              }
+            ],
+            "max_gap_ns": 66865000,
+            "median_gap_ns": 33494000.0,
+            "modality": "right_rgb",
+            "nominal_frame_period_ns": 33333333,
+            "non_monotonic_timestamp_count": 0,
+            "observed_fps": 29.796188965389582,
+            "official_frame_count": 585,
+            "physical_camera_id": "zed_23007103",
+            "preroll_frame_count": 15,
+            "row_count": 585,
+            "sdk_frame_number_gap_count": 0,
+            "sdk_frame_number_gaps": [],
+            "sdk_frame_number_reportable": false,
+            "serial_number": "23007103",
+            "startup_gap_excluded_from_warnings": false,
+            "stream_id": "zed_23007103_right_rgb",
+            "strict_alignment_warning_tolerance_ns": 16666666,
+            "timestamp_domain": "zed_image",
+            "timestamp_gap_warning_threshold_ns": 50000000,
+            "timestamp_max_ns": 1782309401930600158,
+            "timestamp_min_ns": 1782309382330778158,
+            "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+            "warnings": [
+              "large_timestamp_gap"
+            ]
+          }
+        },
+        "streams": [
+          {
+            "expected_fps": 30.0,
+            "modality": "left_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 30,
+              "resolution_hw": [
+                1080,
+                1920
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd1080"
+            },
+            "stream_id": "zed_23007103_left_rgb"
+          },
+          {
+            "expected_fps": 30.0,
+            "modality": "right_rgb",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 30,
+              "resolution_hw": [
+                1080,
+                1920
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd1080"
+            },
+            "stream_id": "zed_23007103_right_rgb"
+          },
+          {
+            "expected_fps": 30.0,
+            "modality": "depth",
+            "requested_profile": {
+              "container": "svo2",
+              "depth_mode": "neural_plus",
+              "fps": 30,
+              "resolution_hw": [
+                1080,
+                1920
+              ],
+              "svo_compression_mode": "h265_lossless",
+              "zed_resolution": "hd1080"
+            },
+            "stream_id": "zed_23007103_depth_zed_sdk_neural_plus"
+          }
+        ],
+        "timestamp_path": "timestamps_zed_SN23007103.csv"
+      }
+    ],
+    "config": {
+      "alignment_warning_frame_periods": 0.5,
+      "allow_extra_calibrated_cameras": true,
+      "allow_session_continuity_camera_settings_policy": false,
+      "calibration_pose_source": "phase_05_final",
+      "calibration_run_dir": "calibration_results/multicam/20260623_165552",
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "camera_settings_policy_artifact": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+      "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-1080p30",
+      "copy_calibration_depth_snapshots": false,
+      "copy_calibration_rerun_rrd": false,
+      "copy_full_calibration_run": false,
+      "depth_mode": "neural_plus",
+      "duration_sec": 30.0,
+      "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": "20260624_095554_523212",
+      "pairing_validation_failure_policy": "fail",
+      "post_native_priming_max_discard_frames": 30,
+      "post_native_priming_timeout_sec": 5.0,
+      "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": true,
+      "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": 30.0,
+    "max_frames": null,
+    "recording_active_elapsed_sec": 22.000945609,
+    "recording_attempt_started_at_unix_time_ns": 1782309354523209422,
+    "recording_datetime": "20260624_095554_523212",
+    "recording_elapsed_sec": 49.83592081069946,
+    "recording_manifest_path": "recording_manifest.json",
+    "recording_metadata_schema_version": 1,
+    "recording_started_at_unix_time_ns": 1782309382358171379,
+    "recording_status": "stopped",
+    "recording_stop_policy": "duration_or_all_max_frames",
+    "recording_stop_reason": "signal_sigint",
+    "recording_timing": {
+      "attempt_elapsed_sec": 49.835917472839355,
+      "official_active_elapsed_sec": 22.000945609,
+      "official_started_at_unix_time_ns": 1782309382358171379,
+      "official_stopped_at_unix_time_ns": 1782309404359116988,
+      "preroll_elapsed_sec": 0.8796788749750704,
+      "recording_started_at_unix_time_ns": 1782309382358171379,
+      "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": {
+          "12540311": 15,
+          "17736741": 15,
+          "23007103": 15
+        },
+        "post_native_priming": {
+          "per_camera_discarded_frame_count": {
+            "12540311": 0,
+            "17736741": 0,
+            "23007103": 0
+          },
+          "per_camera_first_official_native_frame_index": {
+            "12540311": 1,
+            "17736741": 1,
+            "23007103": 1
+          },
+          "per_camera_post_native_priming_frame_count": {
+            "12540311": 1,
+            "17736741": 1,
+            "23007103": 1
+          },
+          "post_native_priming_applied": true,
+          "post_native_priming_elapsed_sec": 0.024173306010197848
+        },
+        "preroll_elapsed_sec": 0.8796788749750704,
+        "stream_settle_sec": 0.0,
+        "stream_warmup_frames": 15
+      },
+      "wind_down_elapsed_sec": 2.384199253981933
+    },
+    "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": {
+        "12540311": 15,
+        "17736741": 15,
+        "23007103": 15
+      },
+      "post_native_priming": {
+        "per_camera_discarded_frame_count": {
+          "12540311": 0,
+          "17736741": 0,
+          "23007103": 0
+        },
+        "per_camera_first_official_native_frame_index": {
+          "12540311": 1,
+          "17736741": 1,
+          "23007103": 1
+        },
+        "per_camera_post_native_priming_frame_count": {
+          "12540311": 1,
+          "17736741": 1,
+          "23007103": 1
+        },
+        "post_native_priming_applied": true,
+        "post_native_priming_elapsed_sec": 0.024173306010197848
+      },
+      "preroll_elapsed_sec": 0.8796788749750704,
+      "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_SN12540311.svo2",
+      "path": "recordings/20260624_095554_523212/ZED-M_SN12540311.svo2",
+      "sha256": null,
+      "size_bytes": 1225995751,
+      "suffix": ".svo2"
+    },
+    {
+      "name": "ZED-M_SN17736741.svo2",
+      "path": "recordings/20260624_095554_523212/ZED-M_SN17736741.svo2",
+      "sha256": null,
+      "size_bytes": 1281834241,
+      "suffix": ".svo2"
+    },
+    {
+      "name": "ZED-M_SN23007103.svo2",
+      "path": "recordings/20260624_095554_523212/ZED-M_SN23007103.svo2",
+      "sha256": null,
+      "size_bytes": 1238297023,
+      "suffix": ".svo2"
+    }
+  ],
+  "timestamp_sidecars": [
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1782309401919472039,
+      "device_timestamp_min_ns": 1782309382317465039,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 586,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1782309401955643675,
+      "host_timestamp_min_ns": 1782309382366977338,
+      "path": "recordings/20260624_095554_523212/timestamps_zed_SN12540311.csv",
+      "row_count": 587
+    },
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1782309401926320382,
+      "device_timestamp_min_ns": 1782309382327579382,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 586,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1782309401962758291,
+      "host_timestamp_min_ns": 1782309382366372962,
+      "path": "recordings/20260624_095554_523212/timestamps_zed_SN17736741.csv",
+      "row_count": 587
+    },
+    {
+      "device_duplicate_timestamp_count": 0,
+      "device_non_monotonic_timestamp_count": 0,
+      "device_timestamp_max_ns": 1782309401930600158,
+      "device_timestamp_min_ns": 1782309382330778158,
+      "frame_index_gap_count": 0,
+      "frame_index_max": 584,
+      "frame_index_min": 0,
+      "host_duplicate_timestamp_count": 0,
+      "host_non_monotonic_timestamp_count": 0,
+      "host_timestamp_max_ns": 1782309401969942122,
+      "host_timestamp_min_ns": 1782309382370176533,
+      "path": "recordings/20260624_095554_523212/timestamps_zed_SN23007103.csv",
+      "row_count": 585
+    }
+  ]
+}

sessions/session_20260624_095554_523212/metadata/discovery_report.md

@@ -0,0 +1,52 @@
+# Recording Discovery Report
+
+Recording directory: `recordings/20260624_095554_523212`
+
+## 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_SN12540311.svo2`: 1225995751 bytes
+- `ZED-M_SN17736741.svo2`: 1281834241 bytes
+- `ZED-M_SN23007103.svo2`: 1238297023 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_12540311_left_rgb`: `streams/zed_12540311_left_rgb/timestamps.parquet`
+- `zed_12540311_right_rgb`: `streams/zed_12540311_right_rgb/timestamps.parquet`
+- `zed_12540311_depth_zed_sdk_neural_plus`: `streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet`
+- `zed_17736741_left_rgb`: `streams/zed_17736741_left_rgb/timestamps.parquet`
+- `zed_17736741_right_rgb`: `streams/zed_17736741_right_rgb/timestamps.parquet`
+- `zed_17736741_depth_zed_sdk_neural_plus`: `streams/zed_17736741_depth_zed_sdk_neural_plus/timestamps.parquet`
+- `zed_23007103_left_rgb`: `streams/zed_23007103_left_rgb/timestamps.parquet`
+- `zed_23007103_right_rgb`: `streams/zed_23007103_right_rgb/timestamps.parquet`
+- `zed_23007103_depth_zed_sdk_neural_plus`: `streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet`
+
+## Legacy CSV Timestamp Sidecars
+
+- `timestamps_zed_SN12540311.csv`: rows=587, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+- `timestamps_zed_SN17736741.csv`: rows=587, frame gaps=0, device duplicate timestamps=0, device non-monotonic=0
+- `timestamps_zed_SN23007103.csv`: rows=585, 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.

sessions/session_20260624_095554_523212/metadata/grouped_zed_export_provenance.json

@@ -0,0 +1,53 @@
+{
+  "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.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": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN12540311.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_12540311_left_rgb",
+      "zed_12540311_right_rgb",
+      "zed_12540311_depth_zed_sdk_neural_plus"
+    ]
+  },
+  "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN17736741.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": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN17736741.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_17736741_left_rgb",
+      "zed_17736741_right_rgb",
+      "zed_17736741_depth_zed_sdk_neural_plus"
+    ]
+  },
+  "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN23007103.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": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212/ZED-M_SN23007103.svo2",
+    "rgb_equivalence_left_equal": true,
+    "rgb_equivalence_passed": true,
+    "rgb_equivalence_right_equal": true,
+    "stream_ids": [
+      "zed_23007103_left_rgb",
+      "zed_23007103_right_rgb",
+      "zed_23007103_depth_zed_sdk_neural_plus"
+    ]
+  }
+}

sessions/session_20260624_095554_523212/metadata/phystwin_window.yaml

@@ -0,0 +1,73 @@
+schema_version: 1
+kind: phystwin_interaction_window
+session:
+  path: /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260624_095554_523212
+  session_id: session_20260624_095554_523212
+annotation_interface:
+  method: rerun
+  rerun_timeline: sync_time_ns
+  rerun_launch_command: uv run --no-sync python -m dataset_converter.visualize_rerun
+    --session-path /mnt/data2/magna/belt_perception/converted_datasets/sessions/session_20260624_095554_523212
+    --sensor-types zed
+  timestamp_copy_instructions: Scrub the sync_time_ns timeline in Rerun. Copy the
+    current integer-nanosecond timestamp at the desired start/end moments.
+  notes: ''
+timebase:
+  policy: native_anchor_overlap
+  sync_policy: AnchorStreamSyncPolicy
+  overlap: true
+  anchor_serial: '12540311'
+  anchor_stream_id: zed_12540311_left_rgb
+  timestamp_unit: ns
+  timestamp_reference: sync_time_ns
+  period_ns_estimate: 33456959
+  fps_estimate: 29.889148
+manual_annotation:
+  start_global_timestamp_ns: 1782309391920000000
+  end_global_timestamp_ns: 1782309394860000000
+  start_condition: hand_or_forearm_visible_and_in_contact_with_object
+  end_condition: before_release_or_contact_break
+  expected_visible_hands_or_arms: 1
+  object_description: soft plush toy
+  controller_description: single visible hand or forearm
+  annotator_notes: 'manual PhysTwin trim: hand/forearm visible and already in contact
+    with plush at start; end before release/contact break'
+resolved_window:
+  start_sync_index: 285
+  end_sync_index_exclusive: 374
+  start_anchor_timestamp_ns: 1782309391920434565
+  end_anchor_timestamp_ns: 1782309394864116982
+  frame_count: 89
+  duration_s: 2.943682
+per_camera_resolution:
+  '12540311':
+    start_source_frame_index: 286
+    end_source_frame_index_exclusive: 375
+    start_source_timestamp_ns: 1782309391920434565
+    end_source_timestamp_ns: 1782309394864116982
+    start_delta_ns: 0
+    end_delta_ns: 0
+  '17736741':
+    start_source_frame_index: 286
+    end_source_frame_index_exclusive: 375
+    start_source_timestamp_ns: 1782309391927353106
+    end_source_timestamp_ns: 1782309394871037151
+    start_delta_ns: 6918541
+    end_delta_ns: 6920169
+  '23007103':
+    start_source_frame_index: 286
+    end_source_frame_index_exclusive: 375
+    start_source_timestamp_ns: 1782309391931733070
+    end_source_timestamp_ns: 1782309394875391814
+    start_delta_ns: 11298505
+    end_delta_ns: 11274832
+validation:
+  within_all_camera_overlap: true
+  start_before_end: true
+  min_abs_camera_delta_ns: 0
+  max_abs_camera_delta_ns: 11298505
+  warnings: []
+created_by: manual
+created_at: '2026-06-25T20:53:43+00:00'
+updated_at: '2026-06-25T20:53:43+00:00'
+

sessions/session_20260624_095554_523212/metadata/raw_stream_summary.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:308b03004c13c5173b5b9fbf9060dbc166b03563a4f7a94477a36aa6778b7e60
+size 46954

sessions/session_20260624_095554_523212/metadata/realsense_bag_pairing.json

@@ -0,0 +1,18 @@
+{
+  "bag_index_artifact": null,
+  "depth_aligned_to_color_pairing_policy": "Each depth_aligned_to_color frame is decoded from the BAG frameset selected by the paired color stream sdk_frame_number for the same official_frame_index, then rs.align(depth_to_color) is applied during conversion.",
+  "frame_number_offset_median": null,
+  "frame_number_offset_p95": null,
+  "frame_number_offset_unit": "frames",
+  "legacy_native_index_pairing_detected_bad": true,
+  "per_stream_legacy_audit": [],
+  "raw_pairing_validation": {
+    "recording_dir": "/mnt/data2/magna/belt_perception/recordings/20260624_095554_523212",
+    "status": "failed"
+  },
+  "raw_pairing_validator_status": "unavailable",
+  "realsense_bag_pairing_policy": "sdk_frame_number",
+  "recording_pairing_validation_artifact": null,
+  "safe_for_dynamic_multiview_tracking": false,
+  "temporal_pixel_sync_status": "repaired_by_sdk_frame_number"
+}

sessions/session_20260624_095554_523212/metadata/recording_manifest.json

@@ -0,0 +1,1487 @@
+{
+  "recording_manifest_schema_version": 1,
+  "recording_datetime": "20260624_095554_523212",
+  "recording_status": "stopped",
+  "recording_stop_reason": "signal_sigint",
+  "camera_rig_profile_name": "round-belt-three-zed",
+  "capture_profile_name": "zed-1080p30",
+  "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-1080p30",
+    "camera_rig_profile_name": "round-belt-three-zed",
+    "enabled_rgb_stream_ids": [
+      "zed_12540311_left_rgb",
+      "zed_12540311_right_rgb",
+      "zed_17736741_left_rgb",
+      "zed_17736741_right_rgb",
+      "zed_23007103_left_rgb",
+      "zed_23007103_right_rgb"
+    ],
+    "fps": null,
+    "zed_stream_profile_name": "HD1080",
+    "realsense_resolution_hw": null,
+    "realsense_image_format": null,
+    "per_camera": {
+      "zed_12540311": {
+        "camera_type": "zed",
+        "serial_number": "12540311",
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8"
+      },
+      "zed_17736741": {
+        "camera_type": "zed",
+        "serial_number": "17736741",
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8"
+      },
+      "zed_23007103": {
+        "camera_type": "zed",
+        "serial_number": "23007103",
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8"
+      }
+    },
+    "zed_depth_mode": "NEURAL_PLUS",
+    "realsense_streams": [
+      "color",
+      "depth"
+    ],
+    "zed_svo_compression_mode": "H265_LOSSLESS"
+  },
+  "actual_acquisition": {
+    "camera_rig_profile_name": "round-belt-three-zed",
+    "enabled_rgb_stream_ids": [
+      "zed_12540311_left_rgb",
+      "zed_12540311_right_rgb",
+      "zed_17736741_left_rgb",
+      "zed_17736741_right_rgb",
+      "zed_23007103_left_rgb",
+      "zed_23007103_right_rgb"
+    ],
+    "per_camera": {
+      "zed_12540311": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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": "12540311",
+        "camera_name": "newerr"
+      },
+      "zed_17736741": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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": "17736741",
+        "camera_name": "amazonbasics"
+      },
+      "zed_23007103": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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": "23007103",
+        "camera_name": "zed-23007103"
+      }
+    }
+  },
+  "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": 33333333,
+    "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": true,
+    "source_calibration_run_dir": "calibration_results/multicam/20260623_165552",
+    "pose_source": "phase_05_final",
+    "world_frame": "table",
+    "final_transform_source": "combined_fixed_movable_ba",
+    "calibration_package_dir": "calibration",
+    "camera_serials": [
+      "12540311",
+      "17736741",
+      "23007103"
+    ],
+    "packaged_camera_serials": [
+      "12540311",
+      "17736741",
+      "23007103"
+    ],
+    "extra_calibrated_serials": [],
+    "missing_calibrated_serials": [],
+    "missing_optional_files": [],
+    "invalid_optional_files": {},
+    "ignored_invalid_extra_calibrated_serials": [],
+    "ignored_invalid_extra_errors_by_serial": {},
+    "source_recording_camera_metadata_mismatches": {},
+    "transform_convention": "a_T_b maps points from frame b into frame a; world_T_camera maps camera-frame points into the world frame (for table-fixed-AprilGrid runs, usually the table frame)",
+    "calibration_package_manifest": "calibration/calibration_package_manifest.json",
+    "world_T_camera_bundle": "calibration/world_T_camera_by_serial.npz",
+    "world_T_camera_bundle_sha256": "cf9641ab7781a8e04f7d56125320957faeeeb2eb1def012e684b7d40655df6f4"
+  },
+  "camera_settings_policy": {
+    "artifact_type": "camera_settings_recording_summary",
+    "policy_artifact_type": "minimal_auto_recording_policy",
+    "recording_mode": "partial_auto",
+    "selected_policy_ids": {
+      "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+      "zed_17736741_stereo": "zed_keep_all_auto",
+      "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
+    },
+    "applied_groups": {
+      "zed_12540311_stereo": {
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "recording_mode": "partial_auto",
+        "auto_controls_remaining_enabled": [
+          "auto_white_balance"
+        ],
+        "auto_controls_disabled": [
+          "auto_exposure"
+        ],
+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
+        ],
+        "manual_controls_written": [
+          "exposure",
+          "gain"
+        ],
+        "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+        "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+        "exposure_gain_status": "manual_locked",
+        "white_balance_status": "auto_remaining_enabled",
+        "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+        "brightness_scale_locked": true,
+        "color_balance_locked": false,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+        "readback_controls": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 37.0,
+          "white_balance": 6500.0
+        },
+        "readback_success": true,
+        "readback_reasons": []
+      },
+      "zed_17736741_stereo": {
+        "selected_policy_id": "zed_keep_all_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "recording_mode": "partial_auto",
+        "auto_controls_remaining_enabled": [
+          "auto_exposure",
+          "auto_white_balance"
+        ],
+        "auto_controls_disabled": [],
+        "controls_allowed_to_drift_during_recording": [
+          "exposure",
+          "gain",
+          "white_balance"
+        ],
+        "manual_controls_written": [],
+        "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+        "reconstruction_priority_class": "all_auto",
+        "exposure_gain_status": "auto_remaining_enabled",
+        "white_balance_status": "auto_remaining_enabled",
+        "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+        "brightness_scale_locked": false,
+        "color_balance_locked": false,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+        "readback_controls": {
+          "auto_exposure": true,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 40.0,
+          "white_balance": 6500.0
+        },
+        "readback_success": true,
+        "readback_reasons": []
+      },
+      "zed_23007103_stereo": {
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "recording_mode": "partial_auto",
+        "auto_controls_remaining_enabled": [
+          "auto_white_balance"
+        ],
+        "auto_controls_disabled": [
+          "auto_exposure"
+        ],
+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
+        ],
+        "manual_controls_written": [
+          "exposure",
+          "gain"
+        ],
+        "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+        "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+        "exposure_gain_status": "manual_locked",
+        "white_balance_status": "auto_remaining_enabled",
+        "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+        "brightness_scale_locked": true,
+        "color_balance_locked": false,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+        "readback_controls": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 46.0,
+          "white_balance": 6500.0
+        },
+        "readback_success": true,
+        "readback_reasons": []
+      }
+    },
+    "warnings": [
+      "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+      "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics",
+      "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics"
+    ],
+    "diagnostic_image_paths": {
+      "zed_12540311_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+      },
+      "zed_12540311_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+      },
+      "zed_17736741_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+      },
+      "zed_17736741_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+      },
+      "zed_23007103_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+      },
+      "zed_23007103_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+      }
+    },
+    "policy_compatibility": {
+      "schema_version": 1,
+      "artifact_type": "camera_settings_policy_compatibility",
+      "status": "compatible",
+      "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+      "policy_artifact_type": "minimal_auto_recording_policy",
+      "policy_artifact_schema_version": 1,
+      "camera_control_acquisition_signature_policy": {
+        "schema_version": 1,
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "fps": 30,
+        "zed_fps": 30,
+        "realsense_fps": 30,
+        "zed_stream_profile_name": "HD1080",
+        "realsense_resolution_hw": [
+          720,
+          1280
+        ],
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        }
+      },
+      "camera_control_acquisition_signature_recorder": {
+        "schema_version": 1,
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "fps": null,
+        "zed_fps": 30,
+        "realsense_fps": 0,
+        "zed_stream_profile_name": "HD1080",
+        "realsense_resolution_hw": [],
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        },
+        "policy_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ]
+      },
+      "exact_match_fields": [
+        "controlled_cameras",
+        "camera_rig_profile_name",
+        "zed_fps",
+        "zed_stream_profile_name"
+      ],
+      "field_comparisons": {
+        "camera_rig_profile_name": {
+          "policy": "round-belt-three-zed",
+          "recorder": "round-belt-three-zed",
+          "match": true
+        },
+        "zed_fps": {
+          "policy": 30,
+          "recorder": 30,
+          "match": true
+        },
+        "realsense_fps": {
+          "policy": 30,
+          "recorder": 0,
+          "match": true,
+          "skipped": true,
+          "reason": "Recorder session has no realsense cameras; policy value ignored."
+        },
+        "zed_stream_profile_name": {
+          "policy": "HD1080",
+          "recorder": "HD1080",
+          "match": true
+        },
+        "realsense_resolution_hw": {
+          "policy": [
+            720,
+            1280
+          ],
+          "recorder": [],
+          "match": true,
+          "skipped": true,
+          "reason": "Recorder session has no RealSense cameras; policy value ignored."
+        }
+      },
+      "tolerated_differences": [
+        {
+          "field": "realsense_fps",
+          "policy": 30,
+          "recorder": 0,
+          "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras."
+        },
+        {
+          "field": "realsense_resolution_hw",
+          "policy": [
+            720,
+            1280
+          ],
+          "recorder": [],
+          "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras."
+        },
+        {
+          "field": "enabled_rgb_stream_ids",
+          "policy": [],
+          "recorder": [
+            "zed_12540311_left_rgb",
+            "zed_12540311_right_rgb",
+            "zed_17736741_left_rgb",
+            "zed_17736741_right_rgb",
+            "zed_23007103_left_rgb",
+            "zed_23007103_right_rgb"
+          ],
+          "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only."
+        },
+        {
+          "field": "realsense_streams",
+          "policy": null,
+          "recorder": [
+            "color",
+            "depth"
+          ],
+          "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation."
+        },
+        {
+          "field": "zed_depth_mode",
+          "policy": null,
+          "recorder": "NEURAL_PLUS",
+          "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state."
+        },
+        {
+          "field": "zed_svo_compression_mode",
+          "policy": null,
+          "recorder": "H265_LOSSLESS",
+          "reason": "SVO compression is a container concern, not RGB camera-control state."
+        }
+      ],
+      "warnings": [
+        "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.",
+        "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).",
+        "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).",
+        "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)."
+      ],
+      "errors": []
+    },
+    "camera_control_acquisition_signature_policy": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": 30,
+      "zed_fps": 30,
+      "realsense_fps": 30,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [
+        720,
+        1280
+      ],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      }
+    },
+    "camera_control_acquisition_signature_recorder": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": null,
+      "zed_fps": 30,
+      "realsense_fps": 0,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      },
+      "policy_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb",
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ]
+    }
+  },
+  "camera_settings_policy_compatibility": {
+    "schema_version": 1,
+    "artifact_type": "camera_settings_policy_compatibility",
+    "status": "compatible",
+    "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+    "policy_artifact_type": "minimal_auto_recording_policy",
+    "policy_artifact_schema_version": 1,
+    "camera_control_acquisition_signature_policy": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": 30,
+      "zed_fps": 30,
+      "realsense_fps": 30,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [
+        720,
+        1280
+      ],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      }
+    },
+    "camera_control_acquisition_signature_recorder": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": null,
+      "zed_fps": 30,
+      "realsense_fps": 0,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      },
+      "policy_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb",
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ]
+    },
+    "exact_match_fields": [
+      "controlled_cameras",
+      "camera_rig_profile_name",
+      "zed_fps",
+      "zed_stream_profile_name"
+    ],
+    "field_comparisons": {
+      "camera_rig_profile_name": {
+        "policy": "round-belt-three-zed",
+        "recorder": "round-belt-three-zed",
+        "match": true
+      },
+      "zed_fps": {
+        "policy": 30,
+        "recorder": 30,
+        "match": true
+      },
+      "realsense_fps": {
+        "policy": 30,
+        "recorder": 0,
+        "match": true,
+        "skipped": true,
+        "reason": "Recorder session has no realsense cameras; policy value ignored."
+      },
+      "zed_stream_profile_name": {
+        "policy": "HD1080",
+        "recorder": "HD1080",
+        "match": true
+      },
+      "realsense_resolution_hw": {
+        "policy": [
+          720,
+          1280
+        ],
+        "recorder": [],
+        "match": true,
+        "skipped": true,
+        "reason": "Recorder session has no RealSense cameras; policy value ignored."
+      }
+    },
+    "tolerated_differences": [
+      {
+        "field": "realsense_fps",
+        "policy": 30,
+        "recorder": 0,
+        "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras."
+      },
+      {
+        "field": "realsense_resolution_hw",
+        "policy": [
+          720,
+          1280
+        ],
+        "recorder": [],
+        "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras."
+      },
+      {
+        "field": "enabled_rgb_stream_ids",
+        "policy": [],
+        "recorder": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ],
+        "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only."
+      },
+      {
+        "field": "realsense_streams",
+        "policy": null,
+        "recorder": [
+          "color",
+          "depth"
+        ],
+        "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation."
+      },
+      {
+        "field": "zed_depth_mode",
+        "policy": null,
+        "recorder": "NEURAL_PLUS",
+        "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state."
+      },
+      {
+        "field": "zed_svo_compression_mode",
+        "policy": null,
+        "recorder": "H265_LOSSLESS",
+        "reason": "SVO compression is a container concern, not RGB camera-control state."
+      }
+    ],
+    "warnings": [
+      "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.",
+      "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).",
+      "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).",
+      "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)."
+    ],
+    "errors": []
+  },
+  "streams": [
+    {
+      "stream_id": "zed_12540311_left_rgb",
+      "modality": "left_rgb",
+      "physical_camera_id": "zed_12540311",
+      "serial_number": "12540311",
+      "camera_type": "zed",
+      "camera_name": "newerr",
+      "recording_path": "ZED-M_SN12540311.svo2",
+      "timestamps_path": "streams/zed_12540311_left_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12540311_left_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd1080",
+        "resolution_hw": [
+          1080,
+          1920
+        ],
+        "fps": 30,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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_12540311_left_rgb",
+        "modality": "left_rgb",
+        "physical_camera_id": "zed_12540311",
+        "serial_number": "12540311",
+        "camera_type": "zed",
+        "row_count": 587,
+        "expected_fps": 30.0,
+        "observed_fps": 29.894898007127537,
+        "nominal_frame_period_ns": 33333333,
+        "default_nearest_neighbor_tolerance_ns": 33333333,
+        "strict_alignment_warning_tolerance_ns": 16666666,
+        "timestamp_gap_warning_threshold_ns": 50000000,
+        "timestamp_min_ns": 1782309382317465039,
+        "timestamp_max_ns": 1782309401919472039,
+        "median_gap_ns": 33495000.0,
+        "max_gap_ns": 33676000,
+        "large_gap_count": 0,
+        "large_gaps": [],
+        "first_inter_frame_gap_ns": 33249000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 587,
+        "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": 1782309382366977338,
+        "host_timestamp_max_ns": 1782309401955643675,
+        "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": 587,
+        "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_12540311_right_rgb",
+      "modality": "right_rgb",
+      "physical_camera_id": "zed_12540311",
+      "serial_number": "12540311",
+      "camera_type": "zed",
+      "camera_name": "newerr",
+      "recording_path": "ZED-M_SN12540311.svo2",
+      "timestamps_path": "streams/zed_12540311_right_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12540311_right_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd1080",
+        "resolution_hw": [
+          1080,
+          1920
+        ],
+        "fps": 30,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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_12540311_right_rgb",
+        "modality": "right_rgb",
+        "physical_camera_id": "zed_12540311",
+        "serial_number": "12540311",
+        "camera_type": "zed",
+        "row_count": 587,
+        "expected_fps": 30.0,
+        "observed_fps": 29.894898007127537,
+        "nominal_frame_period_ns": 33333333,
+        "default_nearest_neighbor_tolerance_ns": 33333333,
+        "strict_alignment_warning_tolerance_ns": 16666666,
+        "timestamp_gap_warning_threshold_ns": 50000000,
+        "timestamp_min_ns": 1782309382317465039,
+        "timestamp_max_ns": 1782309401919472039,
+        "median_gap_ns": 33495000.0,
+        "max_gap_ns": 33676000,
+        "large_gap_count": 0,
+        "large_gaps": [],
+        "first_inter_frame_gap_ns": 33249000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 587,
+        "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": 1782309382366977338,
+        "host_timestamp_max_ns": 1782309401955643675,
+        "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": 587,
+        "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_12540311_depth_zed_sdk_neural_plus",
+      "modality": "depth",
+      "physical_camera_id": "zed_12540311",
+      "serial_number": "12540311",
+      "camera_type": "zed",
+      "camera_name": "newerr",
+      "recording_path": "ZED-M_SN12540311.svo2",
+      "timestamps_path": "streams/zed_12540311_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_12540311_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd1080",
+        "resolution_hw": [
+          1080,
+          1920
+        ],
+        "fps": 30,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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_12540311_depth_zed_sdk_neural_plus",
+        "modality": "depth",
+        "physical_camera_id": "zed_12540311",
+        "serial_number": "12540311",
+        "camera_type": "zed",
+        "row_count": 587,
+        "expected_fps": 30.0,
+        "observed_fps": 29.894898007127537,
+        "nominal_frame_period_ns": 33333333,
+        "default_nearest_neighbor_tolerance_ns": 33333333,
+        "strict_alignment_warning_tolerance_ns": 16666666,
+        "timestamp_gap_warning_threshold_ns": 50000000,
+        "timestamp_min_ns": 1782309382317465039,
+        "timestamp_max_ns": 1782309401919472039,
+        "median_gap_ns": 33495000.0,
+        "max_gap_ns": 33676000,
+        "large_gap_count": 0,
+        "large_gaps": [],
+        "first_inter_frame_gap_ns": 33249000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 587,
+        "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": 1782309382366977338,
+        "host_timestamp_max_ns": 1782309401955643675,
+        "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": 587,
+        "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_17736741_left_rgb",
+      "modality": "left_rgb",
+      "physical_camera_id": "zed_17736741",
+      "serial_number": "17736741",
+      "camera_type": "zed",
+      "camera_name": "amazonbasics",
+      "recording_path": "ZED-M_SN17736741.svo2",
+      "timestamps_path": "streams/zed_17736741_left_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_17736741_left_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd1080",
+        "resolution_hw": [
+          1080,
+          1920
+        ],
+        "fps": 30,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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_17736741_left_rgb",
+        "modality": "left_rgb",
+        "physical_camera_id": "zed_17736741",
+        "serial_number": "17736741",
+        "camera_type": "zed",
+        "row_count": 587,
+        "expected_fps": 30.0,
+        "observed_fps": 29.899879793298968,
+        "nominal_frame_period_ns": 33333333,
+        "default_nearest_neighbor_tolerance_ns": 33333333,
+        "strict_alignment_warning_tolerance_ns": 16666666,
+        "timestamp_gap_warning_threshold_ns": 50000000,
+        "timestamp_min_ns": 1782309382327579382,
+        "timestamp_max_ns": 1782309401926320382,
+        "median_gap_ns": 33495000.0,
+        "max_gap_ns": 33716000,
+        "large_gap_count": 0,
+        "large_gaps": [],
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+      }
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+        "host_timestamp_source": "time.time_ns_after_record_frame",
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+      }
+    },
+    {
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+      "modality": "depth",
+      "physical_camera_id": "zed_17736741",
+      "serial_number": "17736741",
+      "camera_type": "zed",
+      "camera_name": "amazonbasics",
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+      "stream_manifest_path": "streams/zed_17736741_depth_zed_sdk_neural_plus/stream_manifest.json",
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+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
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+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
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+        "host_timestamp_min_ns": 1782309382366372962,
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+        "timestamp_domain": "zed_image",
+        "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+        "host_timestamp_source": "time.time_ns_after_record_frame",
+        "warnings": []
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+      "native_frame_mapping": {
+        "native_container_includes_preroll_frames": false,
+        "native_container_includes_post_native_priming_frames": true,
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+        "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_23007103_left_rgb",
+      "modality": "left_rgb",
+      "physical_camera_id": "zed_23007103",
+      "serial_number": "23007103",
+      "camera_type": "zed",
+      "camera_name": "zed-23007103",
+      "recording_path": "ZED-M_SN23007103.svo2",
+      "timestamps_path": "streams/zed_23007103_left_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_23007103_left_rgb/stream_manifest.json",
+      "requested_profile": {
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+        "container": "svo2"
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+          1920
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+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
+      },
+      "timestamp_summary": {
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+        "modality": "left_rgb",
+        "physical_camera_id": "zed_23007103",
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+        "host_timestamp_min_ns": 1782309382370176533,
+        "host_timestamp_max_ns": 1782309401969942122,
+        "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,
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+        "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_23007103_right_rgb",
+      "modality": "right_rgb",
+      "physical_camera_id": "zed_23007103",
+      "serial_number": "23007103",
+      "camera_type": "zed",
+      "camera_name": "zed-23007103",
+      "recording_path": "ZED-M_SN23007103.svo2",
+      "timestamps_path": "streams/zed_23007103_right_rgb/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_23007103_right_rgb/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd1080",
+        "resolution_hw": [
+          1080,
+          1920
+        ],
+        "fps": 30,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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_23007103_right_rgb",
+        "modality": "right_rgb",
+        "physical_camera_id": "zed_23007103",
+        "serial_number": "23007103",
+        "camera_type": "zed",
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+        "max_gap_ns": 66865000,
+        "large_gap_count": 2,
+        "large_gaps": [
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+            "gap_ns": 66825000
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+            "gap_ns": 66865000
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+        ],
+        "first_inter_frame_gap_ns": 31294000,
+        "startup_gap_excluded_from_warnings": false,
+        "preroll_frame_count": 15,
+        "official_frame_count": 585,
+        "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": 1782309382370176533,
+        "host_timestamp_max_ns": 1782309401969942122,
+        "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,
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+        "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_23007103_depth_zed_sdk_neural_plus",
+      "modality": "depth",
+      "physical_camera_id": "zed_23007103",
+      "serial_number": "23007103",
+      "camera_type": "zed",
+      "camera_name": "zed-23007103",
+      "recording_path": "ZED-M_SN23007103.svo2",
+      "timestamps_path": "streams/zed_23007103_depth_zed_sdk_neural_plus/timestamps.parquet",
+      "stream_manifest_path": "streams/zed_23007103_depth_zed_sdk_neural_plus/stream_manifest.json",
+      "requested_profile": {
+        "zed_resolution": "hd1080",
+        "resolution_hw": [
+          1080,
+          1920
+        ],
+        "fps": 30,
+        "depth_mode": "neural_plus",
+        "svo_compression_mode": "h265_lossless",
+        "container": "svo2"
+      },
+      "actual_opened_profile": {
+        "resolution": [
+          1080,
+          1920
+        ],
+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "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_23007103_depth_zed_sdk_neural_plus",
+        "modality": "depth",
+        "physical_camera_id": "zed_23007103",
+        "serial_number": "23007103",
+        "camera_type": "zed",
+        "row_count": 585,
+        "expected_fps": 30.0,
+        "observed_fps": 29.796188965389582,
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+        "default_nearest_neighbor_tolerance_ns": 33333333,
+        "strict_alignment_warning_tolerance_ns": 16666666,
+        "timestamp_gap_warning_threshold_ns": 50000000,
+        "timestamp_min_ns": 1782309382330778158,
+        "timestamp_max_ns": 1782309401930600158,
+        "median_gap_ns": 33494000.0,
+        "max_gap_ns": 66865000,
+        "large_gap_count": 2,
+        "large_gaps": [
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+            "to_row": 394,
+            "gap_ns": 66825000
+          },
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+        ],
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+        "non_monotonic_timestamp_count": 0,
+        "sdk_frame_number_gap_count": 0,
+        "sdk_frame_number_gaps": [],
+        "sdk_frame_number_reportable": false,
+        "host_timestamp_min_ns": 1782309382370176533,
+        "host_timestamp_max_ns": 1782309401969942122,
+        "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": 585,
+        "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_SN12540311.csv",
+    "timestamps_zed_SN17736741.csv",
+    "timestamps_zed_SN23007103.csv"
+  ],
+  "known_converter_gaps": [
+    "Post-hoc converter currently exports RealSense color/depth from BAG; RealSense IR BAG export remains follow-up work."
+  ]
+}

sessions/session_20260624_095554_523212/metadata/recording_metadata.json

@@ -0,0 +1,1973 @@
+{
+  "recording_metadata_schema_version": 1,
+  "recording_datetime": "20260624_095554_523212",
+  "recording_status": "stopped",
+  "recording_attempt_started_at_unix_time_ns": 1782309354523209422,
+  "recording_started_at_unix_time_ns": 1782309382358171379,
+  "camera_rig_profile_name": "round-belt-three-zed",
+  "duration_sec": 30.0,
+  "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": "round-belt-three-zed",
+    "capture_profile_name": "zed-1080p30",
+    "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": "20260624_095554_523212",
+    "duration_sec": 30.0,
+    "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": "calibration_results/multicam/20260623_165552",
+    "calibration_pose_source": "phase_05_final",
+    "require_calibration": true,
+    "copy_calibration_rerun_rrd": false,
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+          "serial_number": "17736741",
+          "camera_type": "zed",
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+          "expected_fps": 30.0,
+          "observed_fps": 29.899879793298968,
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+          "default_nearest_neighbor_tolerance_ns": 33333333,
+          "strict_alignment_warning_tolerance_ns": 16666666,
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+          "max_gap_ns": 33716000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 30156000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 587,
+          "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": 1782309382366372962,
+          "host_timestamp_max_ns": 1782309401962758291,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        },
+        "zed_17736741_depth_zed_sdk_neural_plus": {
+          "stream_id": "zed_17736741_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "physical_camera_id": "zed_17736741",
+          "serial_number": "17736741",
+          "camera_type": "zed",
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+          "observed_fps": 29.899879793298968,
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+          "strict_alignment_warning_tolerance_ns": 16666666,
+          "timestamp_gap_warning_threshold_ns": 50000000,
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+          "timestamp_max_ns": 1782309401926320382,
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+          "max_gap_ns": 33716000,
+          "large_gap_count": 0,
+          "large_gaps": [],
+          "first_inter_frame_gap_ns": 30156000,
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+          "preroll_frame_count": 15,
+          "official_frame_count": 587,
+          "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": 1782309382366372962,
+          "host_timestamp_max_ns": 1782309401962758291,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": []
+        }
+      }
+    },
+    {
+      "name": "zed-23007103",
+      "serial_number": "23007103",
+      "camera_type": "zed",
+      "recording_path": "ZED-M_SN23007103.svo2",
+      "timestamp_path": "timestamps_zed_SN23007103.csv",
+      "frame_count": 585,
+      "dropped_non_monotonic_timestamp_count": 1,
+      "streams": [
+        {
+          "stream_id": "zed_23007103_left_rgb",
+          "modality": "left_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd1080",
+            "resolution_hw": [
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+              1920
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+            "fps": 30,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
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+          "expected_fps": 30.0
+        },
+        {
+          "stream_id": "zed_23007103_right_rgb",
+          "modality": "right_rgb",
+          "requested_profile": {
+            "zed_resolution": "hd1080",
+            "resolution_hw": [
+              1080,
+              1920
+            ],
+            "fps": 30,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
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+          "expected_fps": 30.0
+        },
+        {
+          "stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "requested_profile": {
+            "zed_resolution": "hd1080",
+            "resolution_hw": [
+              1080,
+              1920
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+            "fps": 30,
+            "depth_mode": "neural_plus",
+            "svo_compression_mode": "h265_lossless",
+            "container": "svo2"
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+          "expected_fps": 30.0
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+      "official_frame_count": 585,
+      "native_container_includes_preroll_frames": false,
+      "native_container_includes_post_native_priming_frames": true,
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+      "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": [
+          1080,
+          1920
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+        "fps": 30.0,
+        "stream_profile_name": "HD1080",
+        "image_format": "rgb8",
+        "depth_mode": "NEURAL_PLUS",
+        "svo_compression_mode": "H265_LOSSLESS",
+        "svo_compression_mode_source": "requested_enum_passed_to_sl.RecordingParameters"
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+      "camera_metadata": {
+        "camera_id": "zed-23007103",
+        "serial_number": "23007103",
+        "camera_type": "zed",
+        "model": "ZED 2",
+        "resolution_hw": [
+          1080,
+          1920
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+        "fps": 30.0,
+        "color_intrinsics": [
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+            1054.421630859375,
+            0.0,
+            969.4031982421875
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+          [
+            0.0,
+            1054.421630859375,
+            516.3903198242188
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+            0.0,
+            1.0
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+        "depth_intrinsics": [
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+            1054.421630859375,
+            0.0,
+            969.4031982421875
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+          [
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+            1054.421630859375,
+            516.3903198242188
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+            0.0,
+            0.0,
+            1.0
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+        "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": [
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+            0.0,
+            0.12004520744085312
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+            1.0,
+            0.0,
+            0.0
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+          [
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+            0.0,
+            1.0,
+            0.0
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+            0.0,
+            0.0,
+            0.0,
+            1.0
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+            0.0,
+            0.0,
+            -0.12004520744085312
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+            1.0,
+            0.0,
+            0.0
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+          [
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+            1.0,
+            0.0
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+            0.0,
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+        "right_camera_frame": "zed_23007103_right_rgb_camera",
+        "depth_camera_frame": "zed_23007103_left_rgb_camera",
+        "color_camera_frame": null,
+        "ir_left_camera_frame": null,
+        "ir_right_camera_frame": null,
+        "stereo_baseline_m": 0.12004520744085312,
+        "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": [
+          "aligned_depth_to_color",
+          "stereo_color",
+          "depth",
+          "raw_depth",
+          "color",
+          "right_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_type_descriptor": null,
+          "usb_speed_mbps": null,
+          "usb_product": null
+        }
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+      "stream_summaries": {
+        "zed_23007103_left_rgb": {
+          "stream_id": "zed_23007103_left_rgb",
+          "modality": "left_rgb",
+          "physical_camera_id": "zed_23007103",
+          "serial_number": "23007103",
+          "camera_type": "zed",
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+          "expected_fps": 30.0,
+          "observed_fps": 29.796188965389582,
+          "nominal_frame_period_ns": 33333333,
+          "default_nearest_neighbor_tolerance_ns": 33333333,
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+          "timestamp_gap_warning_threshold_ns": 50000000,
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+          "max_gap_ns": 66865000,
+          "large_gap_count": 2,
+          "large_gaps": [
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+              "gap_ns": 66825000
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+            {
+              "from_row": 397,
+              "to_row": 398,
+              "gap_ns": 66865000
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+          "first_inter_frame_gap_ns": 31294000,
+          "startup_gap_excluded_from_warnings": false,
+          "preroll_frame_count": 15,
+          "official_frame_count": 585,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
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+          "host_timestamp_min_ns": 1782309382370176533,
+          "host_timestamp_max_ns": 1782309401969942122,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
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+        },
+        "zed_23007103_right_rgb": {
+          "stream_id": "zed_23007103_right_rgb",
+          "modality": "right_rgb",
+          "physical_camera_id": "zed_23007103",
+          "serial_number": "23007103",
+          "camera_type": "zed",
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+          "expected_fps": 30.0,
+          "observed_fps": 29.796188965389582,
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+          "strict_alignment_warning_tolerance_ns": 16666666,
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+          "timestamp_min_ns": 1782309382330778158,
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+          "max_gap_ns": 66865000,
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+          "large_gaps": [
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+              "gap_ns": 66825000
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+            {
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+          "first_inter_frame_gap_ns": 31294000,
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+          "preroll_frame_count": 15,
+          "official_frame_count": 585,
+          "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": 1782309382370176533,
+          "host_timestamp_max_ns": 1782309401969942122,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
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+        },
+        "zed_23007103_depth_zed_sdk_neural_plus": {
+          "stream_id": "zed_23007103_depth_zed_sdk_neural_plus",
+          "modality": "depth",
+          "physical_camera_id": "zed_23007103",
+          "serial_number": "23007103",
+          "camera_type": "zed",
+          "row_count": 585,
+          "expected_fps": 30.0,
+          "observed_fps": 29.796188965389582,
+          "nominal_frame_period_ns": 33333333,
+          "default_nearest_neighbor_tolerance_ns": 33333333,
+          "strict_alignment_warning_tolerance_ns": 16666666,
+          "timestamp_gap_warning_threshold_ns": 50000000,
+          "timestamp_min_ns": 1782309382330778158,
+          "timestamp_max_ns": 1782309401930600158,
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+          "max_gap_ns": 66865000,
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+            {
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+          "first_inter_frame_gap_ns": 31294000,
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+          "preroll_frame_count": 15,
+          "official_frame_count": 585,
+          "duplicate_timestamp_count": 0,
+          "non_monotonic_timestamp_count": 0,
+          "sdk_frame_number_gap_count": 0,
+          "sdk_frame_number_gaps": [],
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+          "host_timestamp_min_ns": 1782309382370176533,
+          "host_timestamp_max_ns": 1782309401969942122,
+          "timestamp_domain": "zed_image",
+          "timestamp_source": "sl.TIME_REFERENCE.IMAGE",
+          "host_timestamp_source": "time.time_ns_after_record_frame",
+          "warnings": [
+            "large_timestamp_gap"
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+        }
+      }
+    }
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+  "stream_preroll": {
+    "stream_warmup_frames": 15,
+    "stream_settle_sec": 0.0,
+    "preroll_elapsed_sec": 0.8796788749750704,
+    "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": {
+      "12540311": 15,
+      "17736741": 15,
+      "23007103": 15
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+    "post_native_priming": {
+      "post_native_priming_applied": true,
+      "post_native_priming_elapsed_sec": 0.024173306010197848,
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+        "12540311": 0,
+        "17736741": 0,
+        "23007103": 0
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+      "per_camera_post_native_priming_frame_count": {
+        "12540311": 1,
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+      "per_camera_first_official_native_frame_index": {
+        "12540311": 1,
+        "17736741": 1,
+        "23007103": 1
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+    }
+  },
+  "camera_settings_policy": {
+    "artifact_type": "camera_settings_recording_summary",
+    "policy_artifact_type": "minimal_auto_recording_policy",
+    "recording_mode": "partial_auto",
+    "selected_policy_ids": {
+      "zed_12540311_stereo": "zed_exposure_gain_replay_keep_awb_auto",
+      "zed_17736741_stereo": "zed_keep_all_auto",
+      "zed_23007103_stereo": "zed_exposure_gain_replay_keep_awb_auto"
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+    "applied_groups": {
+      "zed_12540311_stereo": {
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "recording_mode": "partial_auto",
+        "auto_controls_remaining_enabled": [
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+        "auto_controls_disabled": [
+          "auto_exposure"
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+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
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+        "manual_controls_written": [
+          "exposure",
+          "gain"
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+        "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+        "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+        "exposure_gain_status": "manual_locked",
+        "white_balance_status": "auto_remaining_enabled",
+        "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+        "brightness_scale_locked": true,
+        "color_balance_locked": false,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+        "readback_controls": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 37.0,
+          "white_balance": 6500.0
+        },
+        "readback_success": true,
+        "readback_reasons": []
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+      "zed_17736741_stereo": {
+        "selected_policy_id": "zed_keep_all_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "recording_mode": "partial_auto",
+        "auto_controls_remaining_enabled": [
+          "auto_exposure",
+          "auto_white_balance"
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+        "auto_controls_disabled": [],
+        "controls_allowed_to_drift_during_recording": [
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+          "gain",
+          "white_balance"
+        ],
+        "manual_controls_written": [],
+        "expected_recording_behavior": "Exposure/gain and white balance remain auto and may adapt during recording.",
+        "reconstruction_priority_class": "all_auto",
+        "exposure_gain_status": "auto_remaining_enabled",
+        "white_balance_status": "auto_remaining_enabled",
+        "expected_reconstruction_risk": "Exposure/gain and white balance remain auto. Brightness scale and color balance may drift during recording.",
+        "brightness_scale_locked": false,
+        "color_balance_locked": false,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording. Selected keep-all-auto fallback passed with relaxed candidate verification; brightness and color balance may drift during recording.",
+        "readback_controls": {
+          "auto_exposure": true,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 40.0,
+          "white_balance": 6500.0
+        },
+        "readback_success": true,
+        "readback_reasons": []
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+      "zed_23007103_stereo": {
+        "selected_policy_id": "zed_exposure_gain_replay_keep_awb_auto",
+        "recording_readiness": "partial_auto_recording_policy",
+        "recording_mode": "partial_auto",
+        "auto_controls_remaining_enabled": [
+          "auto_white_balance"
+        ],
+        "auto_controls_disabled": [
+          "auto_exposure"
+        ],
+        "controls_allowed_to_drift_during_recording": [
+          "white_balance"
+        ],
+        "manual_controls_written": [
+          "exposure",
+          "gain"
+        ],
+        "expected_recording_behavior": "Exposure/gain fixed; white balance may continue adapting during recording.",
+        "reconstruction_priority_class": "exposure_gain_locked_awb_auto",
+        "exposure_gain_status": "manual_locked",
+        "white_balance_status": "auto_remaining_enabled",
+        "expected_reconstruction_risk": "Brightness scale is validated as fixed for reconstruction; white balance remains auto and may drift chromaticity during recording.",
+        "brightness_scale_locked": true,
+        "color_balance_locked": false,
+        "warning": "One or more RGB auto controls remain enabled and the listed controls may drift during recording.",
+        "readback_controls": {
+          "auto_exposure": false,
+          "auto_white_balance": true,
+          "exposure": 90.0,
+          "gain": 46.0,
+          "white_balance": 6500.0
+        },
+        "readback_success": true,
+        "readback_reasons": []
+      }
+    },
+    "warnings": [
+      "zed_12540311_stereo: policy was validated with lower-confidence generic full-frame metrics",
+      "zed_17736741_stereo: policy was validated with lower-confidence generic full-frame metrics",
+      "zed_23007103_stereo: policy was validated with lower-confidence generic full-frame metrics"
+    ],
+    "diagnostic_image_paths": {
+      "zed_12540311_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_left_rgb.webp"
+      },
+      "zed_12540311_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_12540311_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_12540311_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_12540311_right_rgb.webp"
+      },
+      "zed_17736741_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_left_rgb.webp"
+      },
+      "zed_17736741_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_17736741_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_17736741_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_17736741_right_rgb.webp"
+      },
+      "zed_23007103_left_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_left_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_left_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_left_rgb.webp"
+      },
+      "zed_23007103_right_rgb": {
+        "baseline_auto": "diagnostic_images/baseline_auto/zed_23007103_right_rgb.webp",
+        "post_minimal_auto": "diagnostic_images/post_minimal_auto/zed_23007103_right_rgb.webp",
+        "side_by_side": "diagnostic_images/side_by_side/zed_23007103_right_rgb.webp"
+      }
+    },
+    "policy_compatibility": {
+      "schema_version": 1,
+      "artifact_type": "camera_settings_policy_compatibility",
+      "status": "compatible",
+      "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+      "policy_artifact_type": "minimal_auto_recording_policy",
+      "policy_artifact_schema_version": 1,
+      "camera_control_acquisition_signature_policy": {
+        "schema_version": 1,
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "fps": 30,
+        "zed_fps": 30,
+        "realsense_fps": 30,
+        "zed_stream_profile_name": "HD1080",
+        "realsense_resolution_hw": [
+          720,
+          1280
+        ],
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        }
+      },
+      "camera_control_acquisition_signature_recorder": {
+        "schema_version": 1,
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "fps": null,
+        "zed_fps": 30,
+        "realsense_fps": 0,
+        "zed_stream_profile_name": "HD1080",
+        "realsense_resolution_hw": [],
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        },
+        "policy_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ]
+      },
+      "exact_match_fields": [
+        "controlled_cameras",
+        "camera_rig_profile_name",
+        "zed_fps",
+        "zed_stream_profile_name"
+      ],
+      "field_comparisons": {
+        "camera_rig_profile_name": {
+          "policy": "round-belt-three-zed",
+          "recorder": "round-belt-three-zed",
+          "match": true
+        },
+        "zed_fps": {
+          "policy": 30,
+          "recorder": 30,
+          "match": true
+        },
+        "realsense_fps": {
+          "policy": 30,
+          "recorder": 0,
+          "match": true,
+          "skipped": true,
+          "reason": "Recorder session has no realsense cameras; policy value ignored."
+        },
+        "zed_stream_profile_name": {
+          "policy": "HD1080",
+          "recorder": "HD1080",
+          "match": true
+        },
+        "realsense_resolution_hw": {
+          "policy": [
+            720,
+            1280
+          ],
+          "recorder": [],
+          "match": true,
+          "skipped": true,
+          "reason": "Recorder session has no RealSense cameras; policy value ignored."
+        }
+      },
+      "tolerated_differences": [
+        {
+          "field": "realsense_fps",
+          "policy": 30,
+          "recorder": 0,
+          "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras."
+        },
+        {
+          "field": "realsense_resolution_hw",
+          "policy": [
+            720,
+            1280
+          ],
+          "recorder": [],
+          "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras."
+        },
+        {
+          "field": "enabled_rgb_stream_ids",
+          "policy": [],
+          "recorder": [
+            "zed_12540311_left_rgb",
+            "zed_12540311_right_rgb",
+            "zed_17736741_left_rgb",
+            "zed_17736741_right_rgb",
+            "zed_23007103_left_rgb",
+            "zed_23007103_right_rgb"
+          ],
+          "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only."
+        },
+        {
+          "field": "realsense_streams",
+          "policy": null,
+          "recorder": [
+            "color",
+            "depth"
+          ],
+          "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation."
+        },
+        {
+          "field": "zed_depth_mode",
+          "policy": null,
+          "recorder": "NEURAL_PLUS",
+          "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state."
+        },
+        {
+          "field": "zed_svo_compression_mode",
+          "policy": null,
+          "recorder": "H265_LOSSLESS",
+          "reason": "SVO compression is a container concern, not RGB camera-control state."
+        }
+      ],
+      "warnings": [
+        "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.",
+        "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).",
+        "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).",
+        "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)."
+      ],
+      "errors": []
+    },
+    "camera_control_acquisition_signature_policy": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": 30,
+      "zed_fps": 30,
+      "realsense_fps": 30,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [
+        720,
+        1280
+      ],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      }
+    },
+    "camera_control_acquisition_signature_recorder": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": null,
+      "zed_fps": 30,
+      "realsense_fps": 0,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      },
+      "policy_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb",
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ]
+    }
+  },
+  "camera_settings_policy_acquisition_validation": {
+    "status": "compatible",
+    "compatibility": {
+      "schema_version": 1,
+      "artifact_type": "camera_settings_policy_compatibility",
+      "status": "compatible",
+      "policy_artifact_path": "calibration_results/camera_auto_reset/20260623_175433/minimal_auto_recording_policy_artifact.json",
+      "policy_artifact_type": "minimal_auto_recording_policy",
+      "policy_artifact_schema_version": 1,
+      "camera_control_acquisition_signature_policy": {
+        "schema_version": 1,
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "fps": 30,
+        "zed_fps": 30,
+        "realsense_fps": 30,
+        "zed_stream_profile_name": "HD1080",
+        "realsense_resolution_hw": [
+          720,
+          1280
+        ],
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        }
+      },
+      "camera_control_acquisition_signature_recorder": {
+        "schema_version": 1,
+        "camera_rig_profile_name": "round-belt-three-zed",
+        "fps": null,
+        "zed_fps": 30,
+        "realsense_fps": 0,
+        "zed_stream_profile_name": "HD1080",
+        "realsense_resolution_hw": [],
+        "controlled_cameras": {
+          "zed_12540311_stereo": {
+            "camera_type": "zed",
+            "serial_number": "12540311",
+            "settings_group_id": "zed_12540311_stereo"
+          },
+          "zed_17736741_stereo": {
+            "camera_type": "zed",
+            "serial_number": "17736741",
+            "settings_group_id": "zed_17736741_stereo"
+          },
+          "zed_23007103_stereo": {
+            "camera_type": "zed",
+            "serial_number": "23007103",
+            "settings_group_id": "zed_23007103_stereo"
+          }
+        },
+        "policy_rgb_stream_ids": [
+          "zed_12540311_left_rgb",
+          "zed_12540311_right_rgb",
+          "zed_17736741_left_rgb",
+          "zed_17736741_right_rgb",
+          "zed_23007103_left_rgb",
+          "zed_23007103_right_rgb"
+        ]
+      },
+      "exact_match_fields": [
+        "controlled_cameras",
+        "camera_rig_profile_name",
+        "zed_fps",
+        "zed_stream_profile_name"
+      ],
+      "field_comparisons": {
+        "camera_rig_profile_name": {
+          "policy": "round-belt-three-zed",
+          "recorder": "round-belt-three-zed",
+          "match": true
+        },
+        "zed_fps": {
+          "policy": 30,
+          "recorder": 30,
+          "match": true
+        },
+        "realsense_fps": {
+          "policy": 30,
+          "recorder": 0,
+          "match": true,
+          "skipped": true,
+          "reason": "Recorder session has no realsense cameras; policy value ignored."
+        },
+        "zed_stream_profile_name": {
+          "policy": "HD1080",
+          "recorder": "HD1080",
+          "match": true
+        },
+        "realsense_resolution_hw": {
+          "policy": [
+            720,
+            1280
+          ],
+          "recorder": [],
+          "match": true,
+          "skipped": true,
+          "reason": "Recorder session has no RealSense cameras; policy value ignored."
+        }
+      },
+      "tolerated_differences": [
+        {
+          "field": "realsense_fps",
+          "policy": 30,
+          "recorder": 0,
+          "reason": "Policy includes realsense FPS but this recorder session has no realsense cameras."
+        },
+        {
+          "field": "realsense_resolution_hw",
+          "policy": [
+            720,
+            1280
+          ],
+          "recorder": [],
+          "reason": "Policy includes RealSense resolution but this recorder session has no RealSense cameras."
+        },
+        {
+          "field": "enabled_rgb_stream_ids",
+          "policy": [],
+          "recorder": [
+            "zed_12540311_left_rgb",
+            "zed_12540311_right_rgb",
+            "zed_17736741_left_rgb",
+            "zed_17736741_right_rgb",
+            "zed_23007103_left_rgb",
+            "zed_23007103_right_rgb"
+          ],
+          "reason": "Policy was generated with an empty enabled_rgb_stream_ids list (infer-all live semantics). Recorder stream list is informational only."
+        },
+        {
+          "field": "realsense_streams",
+          "policy": null,
+          "recorder": [
+            "color",
+            "depth"
+          ],
+          "reason": "Recorder enables additional RealSense substreams (depth/IR) not used during RGB-only policy generation."
+        },
+        {
+          "field": "zed_depth_mode",
+          "policy": null,
+          "recorder": "NEURAL_PLUS",
+          "reason": "ZED depth mode is a native recording payload concern, not RGB camera-control state."
+        },
+        {
+          "field": "zed_svo_compression_mode",
+          "policy": null,
+          "recorder": "H265_LOSSLESS",
+          "reason": "SVO compression is a container concern, not RGB camera-control state."
+        }
+      ],
+      "warnings": [
+        "Policy artifact did not pin enabled_rgb_stream_ids; recorder has explicit RGB streams.",
+        "realsense_streams: policy=None recorder=['color', 'depth'] (tolerated).",
+        "zed_depth_mode: policy=None recorder='NEURAL_PLUS' (tolerated).",
+        "zed_svo_compression_mode: policy=None recorder='H265_LOSSLESS' (tolerated)."
+      ],
+      "errors": []
+    },
+    "camera_control_acquisition_signature_policy": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": 30,
+      "zed_fps": 30,
+      "realsense_fps": 30,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [
+        720,
+        1280
+      ],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      }
+    },
+    "camera_control_acquisition_signature_recorder": {
+      "schema_version": 1,
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "fps": null,
+      "zed_fps": 30,
+      "realsense_fps": 0,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": [],
+      "controlled_cameras": {
+        "zed_12540311_stereo": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "settings_group_id": "zed_12540311_stereo"
+        },
+        "zed_17736741_stereo": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "settings_group_id": "zed_17736741_stereo"
+        },
+        "zed_23007103_stereo": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "settings_group_id": "zed_23007103_stereo"
+        }
+      },
+      "policy_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb",
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ]
+    },
+    "requested_acquisition": {
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "capture_profile_name": "zed-1080p30",
+      "enabled_rgb_stream_ids": [],
+      "resolution": null,
+      "fps": 30,
+      "stream_profile_name": null,
+      "image_format": null,
+      "zed_stream_profile_name": null,
+      "realsense_resolution_hw": null,
+      "realsense_image_format": null,
+      "realsense_rectify_color": true,
+      "preflight_probe_timeout_s": 5.0,
+      "realsense_duplicate_frame_policy": "wait_for_new",
+      "realsense_duplicate_timeout_s": 2.0,
+      "realsense_duplicate_max_count": null,
+      "enable_zed_depth_for_occlusion": false,
+      "zed_depth_occlusion_policy": "disabled",
+      "zed_depth_mode_for_occlusion": "NEURAL_PLUS",
+      "allow_stereo_pair_left_depth_as_group_occlusion_check": true,
+      "depth_min_valid_fraction": 0.25,
+      "foreground_margin_m": 0.05,
+      "depth_statistic": "adaptive",
+      "depth_unknown_policy": "allow_with_warning",
+      "exclude_patch_ids": [],
+      "patch_visibility_override": null
+    },
+    "recording_config_acquisition": {
+      "capture_profile_name": "zed-1080p30",
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "enabled_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb",
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ],
+      "fps": null,
+      "zed_stream_profile_name": "HD1080",
+      "realsense_resolution_hw": null,
+      "realsense_image_format": null,
+      "per_camera": {
+        "zed_12540311": {
+          "camera_type": "zed",
+          "serial_number": "12540311",
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "image_format": "rgb8"
+        },
+        "zed_17736741": {
+          "camera_type": "zed",
+          "serial_number": "17736741",
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "image_format": "rgb8"
+        },
+        "zed_23007103": {
+          "camera_type": "zed",
+          "serial_number": "23007103",
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "image_format": "rgb8"
+        }
+      },
+      "zed_depth_mode": "NEURAL_PLUS",
+      "realsense_streams": [
+        "color",
+        "depth"
+      ],
+      "zed_svo_compression_mode": "H265_LOSSLESS"
+    },
+    "actual_opened_acquisition": {
+      "camera_rig_profile_name": "round-belt-three-zed",
+      "enabled_rgb_stream_ids": [
+        "zed_12540311_left_rgb",
+        "zed_12540311_right_rgb",
+        "zed_17736741_left_rgb",
+        "zed_17736741_right_rgb",
+        "zed_23007103_left_rgb",
+        "zed_23007103_right_rgb"
+      ],
+      "per_camera": {
+        "zed_12540311": {
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "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": "12540311",
+          "camera_name": "newerr"
+        },
+        "zed_17736741": {
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "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": "17736741",
+          "camera_name": "amazonbasics"
+        },
+        "zed_23007103": {
+          "resolution": [
+            1080,
+            1920
+          ],
+          "fps": 30.0,
+          "stream_profile_name": "HD1080",
+          "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": "23007103",
+          "camera_name": "zed-23007103"
+        }
+      }
+    }
+  },
+  "recording_elapsed_sec": 49.83592081069946,
+  "recording_active_elapsed_sec": 22.000945609,
+  "recording_timing": {
+    "attempt_elapsed_sec": 49.835917472839355,
+    "official_active_elapsed_sec": 22.000945609,
+    "preroll_elapsed_sec": 0.8796788749750704,
+    "wind_down_elapsed_sec": 2.384199253981933,
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sessions/session_20260624_095554_523212/metadata/session.json

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