Add session_20260401_115938

.gitattributes

@@ -58,3 +58,9 @@ 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_20260401_115938/videos/zed_12540311_zed_m_sn12540311_depth.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260401_115938/videos/zed_12540311_zed_m_sn12540311_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260401_115938/videos/zed_12540311_zed_m_sn12540311_right_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260401_115938/videos/zed_17736741_zed_m_sn17736741_depth.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260401_115938/videos/zed_17736741_zed_m_sn17736741_left_rgb.mkv filter=lfs diff=lfs merge=lfs -text
+sessions/session_20260401_115938/videos/zed_17736741_zed_m_sn17736741_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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd26e2dccc3f75d4cf35e484b7b6e8708b6afec00bb4490d18c854d7f011d188
+size 4394

sessions/session_20260401_115938/metadata/calibration.json

@@ -0,0 +1,1574 @@
+{
+  "camera_frame_conventions": {
+    "zed_12540311_zed_m_sn12540311_depth": {
+      "depth_camera_frame": "zed_12540311_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "left_camera_frame": "zed_12540311_left_rgb_camera",
+      "right_camera_frame": "zed_12540311_right_rgb_camera",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_12540311_zed_m_sn12540311_left_rgb": {
+      "depth_camera_frame": "zed_12540311_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "left_camera_frame": "zed_12540311_left_rgb_camera",
+      "right_camera_frame": "zed_12540311_right_rgb_camera",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_12540311_zed_m_sn12540311_right_rgb": {
+      "depth_camera_frame": "zed_12540311_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "left_camera_frame": "zed_12540311_left_rgb_camera",
+      "right_camera_frame": "zed_12540311_right_rgb_camera",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_17736741_zed_m_sn17736741_depth": {
+      "depth_camera_frame": "zed_17736741_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "left_camera_frame": "zed_17736741_left_rgb_camera",
+      "right_camera_frame": "zed_17736741_right_rgb_camera",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_17736741_zed_m_sn17736741_left_rgb": {
+      "depth_camera_frame": "zed_17736741_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "left_camera_frame": "zed_17736741_left_rgb_camera",
+      "right_camera_frame": "zed_17736741_right_rgb_camera",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_17736741_zed_m_sn17736741_right_rgb": {
+      "depth_camera_frame": "zed_17736741_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "left_camera_frame": "zed_17736741_left_rgb_camera",
+      "right_camera_frame": "zed_17736741_right_rgb_camera",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    }
+  },
+  "camera_intrinsics": {
+    "zed_12540311_zed_m_sn12540311_depth": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              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
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+          "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+          "transform_direction": "p_zed_12540311_left_rgb_camera = T * p_zed_12540311_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12540311_zed_m_sn12540311_left_rgb",
+            "zed_12540311_zed_m_sn12540311_right_rgb",
+            "zed_12540311_zed_m_sn12540311_depth"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              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
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12540311_right_rgb_camera_T_zed_12540311_left_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+          "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+          "transform_direction": "p_zed_12540311_right_rgb_camera = T * p_zed_12540311_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12540311_zed_m_sn12540311_left_rgb",
+            "zed_12540311_zed_m_sn12540311_right_rgb",
+            "zed_12540311_zed_m_sn12540311_depth"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12540311_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "depth_scale": 1.0,
+      "depth_stream_id": "zed_12540311_zed_m_sn12540311_depth",
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        1920,
+        1080
+      ],
+      "left": {
+        "cx": 975.8058471679688,
+        "cy": 520.2476806640625,
+        "fx": 1505.6666259765625,
+        "fy": 1505.6666259765625
+      },
+      "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
+        ]
+      ],
+      "left_stream_id": "zed_12540311_zed_m_sn12540311_left_rgb",
+      "right": {
+        "cx": 975.8058471679688,
+        "cy": 520.2476806640625,
+        "fx": 1505.6666259765625,
+        "fy": 1505.6666259765625
+      },
+      "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
+        ]
+      ],
+      "right_stream_id": "zed_12540311_zed_m_sn12540311_right_rgb",
+      "sensor_type": "zed",
+      "source_serial": "12540311",
+      "stereo_baseline_m": 0.06312009692192078,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_12540311_zed_m_sn12540311_left_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              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
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+          "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+          "transform_direction": "p_zed_12540311_left_rgb_camera = T * p_zed_12540311_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12540311_zed_m_sn12540311_left_rgb",
+            "zed_12540311_zed_m_sn12540311_right_rgb",
+            "zed_12540311_zed_m_sn12540311_depth"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              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
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12540311_right_rgb_camera_T_zed_12540311_left_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+          "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+          "transform_direction": "p_zed_12540311_right_rgb_camera = T * p_zed_12540311_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12540311_zed_m_sn12540311_left_rgb",
+            "zed_12540311_zed_m_sn12540311_right_rgb",
+            "zed_12540311_zed_m_sn12540311_depth"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12540311_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "depth_scale": 1.0,
+      "depth_stream_id": "zed_12540311_zed_m_sn12540311_depth",
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        1920,
+        1080
+      ],
+      "left": {
+        "cx": 975.8058471679688,
+        "cy": 520.2476806640625,
+        "fx": 1505.6666259765625,
+        "fy": 1505.6666259765625
+      },
+      "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
+        ]
+      ],
+      "left_stream_id": "zed_12540311_zed_m_sn12540311_left_rgb",
+      "right": {
+        "cx": 975.8058471679688,
+        "cy": 520.2476806640625,
+        "fx": 1505.6666259765625,
+        "fy": 1505.6666259765625
+      },
+      "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
+        ]
+      ],
+      "right_stream_id": "zed_12540311_zed_m_sn12540311_right_rgb",
+      "sensor_type": "zed",
+      "source_serial": "12540311",
+      "stereo_baseline_m": 0.06312009692192078,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_12540311_zed_m_sn12540311_right_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              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
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+          "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+          "transform_direction": "p_zed_12540311_left_rgb_camera = T * p_zed_12540311_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12540311_zed_m_sn12540311_left_rgb",
+            "zed_12540311_zed_m_sn12540311_right_rgb",
+            "zed_12540311_zed_m_sn12540311_depth"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              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
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_12540311_right_rgb_camera_T_zed_12540311_left_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+          "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+          "transform_direction": "p_zed_12540311_right_rgb_camera = T * p_zed_12540311_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_12540311_zed_m_sn12540311_left_rgb",
+            "zed_12540311_zed_m_sn12540311_right_rgb",
+            "zed_12540311_zed_m_sn12540311_depth"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_12540311_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "depth_scale": 1.0,
+      "depth_stream_id": "zed_12540311_zed_m_sn12540311_depth",
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        1920,
+        1080
+      ],
+      "left": {
+        "cx": 975.8058471679688,
+        "cy": 520.2476806640625,
+        "fx": 1505.6666259765625,
+        "fy": 1505.6666259765625
+      },
+      "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
+        ]
+      ],
+      "left_stream_id": "zed_12540311_zed_m_sn12540311_left_rgb",
+      "right": {
+        "cx": 975.8058471679688,
+        "cy": 520.2476806640625,
+        "fx": 1505.6666259765625,
+        "fy": 1505.6666259765625
+      },
+      "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
+        ]
+      ],
+      "right_stream_id": "zed_12540311_zed_m_sn12540311_right_rgb",
+      "sensor_type": "zed",
+      "source_serial": "12540311",
+      "stereo_baseline_m": 0.06312009692192078,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_17736741_zed_m_sn17736741_depth": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0628473311662674
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+          "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+          "transform_direction": "p_zed_17736741_left_rgb_camera = T * p_zed_17736741_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_17736741_zed_m_sn17736741_left_rgb",
+            "zed_17736741_zed_m_sn17736741_right_rgb",
+            "zed_17736741_zed_m_sn17736741_depth"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.0628473311662674
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_17736741_right_rgb_camera_T_zed_17736741_left_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+          "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+          "transform_direction": "p_zed_17736741_right_rgb_camera = T * p_zed_17736741_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_17736741_zed_m_sn17736741_left_rgb",
+            "zed_17736741_zed_m_sn17736741_right_rgb",
+            "zed_17736741_zed_m_sn17736741_depth"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_17736741_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "depth_scale": 1.0,
+      "depth_stream_id": "zed_17736741_zed_m_sn17736741_depth",
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        1920,
+        1080
+      ],
+      "left": {
+        "cx": 954.3006591796875,
+        "cy": 518.1399536132812,
+        "fx": 1509.0533447265625,
+        "fy": 1509.0533447265625
+      },
+      "left_camera_frame": "zed_17736741_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "left_stream_id": "zed_17736741_zed_m_sn17736741_left_rgb",
+      "right": {
+        "cx": 954.3006591796875,
+        "cy": 518.1399536132812,
+        "fx": 1509.0533447265625,
+        "fy": 1509.0533447265625
+      },
+      "right_camera_frame": "zed_17736741_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "right_stream_id": "zed_17736741_zed_m_sn17736741_right_rgb",
+      "sensor_type": "zed",
+      "source_serial": "17736741",
+      "stereo_baseline_m": 0.0628473311662674,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_17736741_zed_m_sn17736741_left_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0628473311662674
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+          "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+          "transform_direction": "p_zed_17736741_left_rgb_camera = T * p_zed_17736741_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_17736741_zed_m_sn17736741_left_rgb",
+            "zed_17736741_zed_m_sn17736741_right_rgb",
+            "zed_17736741_zed_m_sn17736741_depth"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.0628473311662674
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_17736741_right_rgb_camera_T_zed_17736741_left_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+          "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+          "transform_direction": "p_zed_17736741_right_rgb_camera = T * p_zed_17736741_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_17736741_zed_m_sn17736741_left_rgb",
+            "zed_17736741_zed_m_sn17736741_right_rgb",
+            "zed_17736741_zed_m_sn17736741_depth"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_17736741_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "depth_scale": 1.0,
+      "depth_stream_id": "zed_17736741_zed_m_sn17736741_depth",
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        1920,
+        1080
+      ],
+      "left": {
+        "cx": 954.3006591796875,
+        "cy": 518.1399536132812,
+        "fx": 1509.0533447265625,
+        "fy": 1509.0533447265625
+      },
+      "left_camera_frame": "zed_17736741_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "left_stream_id": "zed_17736741_zed_m_sn17736741_left_rgb",
+      "right": {
+        "cx": 954.3006591796875,
+        "cy": 518.1399536132812,
+        "fx": 1509.0533447265625,
+        "fy": 1509.0533447265625
+      },
+      "right_camera_frame": "zed_17736741_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "right_stream_id": "zed_17736741_zed_m_sn17736741_right_rgb",
+      "sensor_type": "zed",
+      "source_serial": "17736741",
+      "stereo_baseline_m": 0.0628473311662674,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    },
+    "zed_17736741_zed_m_sn17736741_right_rgb": {
+      "calibration_transforms": [
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              0.0628473311662674
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+          "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+          "transform_direction": "p_zed_17736741_left_rgb_camera = T * p_zed_17736741_right_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_17736741_zed_m_sn17736741_left_rgb",
+            "zed_17736741_zed_m_sn17736741_right_rgb",
+            "zed_17736741_zed_m_sn17736741_depth"
+          ]
+        },
+        {
+          "matrix": [
+            [
+              1.0,
+              0.0,
+              0.0,
+              -0.0628473311662674
+            ],
+            [
+              0.0,
+              1.0,
+              0.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              1.0,
+              0.0
+            ],
+            [
+              0.0,
+              0.0,
+              0.0,
+              1.0
+            ]
+          ],
+          "matrix_storage_order": "row_major",
+          "name": "zed_17736741_right_rgb_camera_T_zed_17736741_left_rgb_camera",
+          "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+          "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+          "transform_direction": "p_zed_17736741_right_rgb_camera = T * p_zed_17736741_left_rgb_camera",
+          "units": {
+            "rotation": "unitless_rotation_matrix",
+            "translation": "meters"
+          },
+          "valid_stream_ids": [
+            "zed_17736741_zed_m_sn17736741_left_rgb",
+            "zed_17736741_zed_m_sn17736741_right_rgb",
+            "zed_17736741_zed_m_sn17736741_depth"
+          ]
+        }
+      ],
+      "depth_camera_frame": "zed_17736741_left_rgb_camera",
+      "depth_frame_convention": "ZED depth maps are expressed in the left RGB camera optical frame.",
+      "depth_scale": 1.0,
+      "depth_stream_id": "zed_17736741_zed_m_sn17736741_depth",
+      "distortion_coefficients": null,
+      "distortion_model": "zed_sdk",
+      "intrinsics_resolution": [
+        1920,
+        1080
+      ],
+      "left": {
+        "cx": 954.3006591796875,
+        "cy": 518.1399536132812,
+        "fx": 1509.0533447265625,
+        "fy": 1509.0533447265625
+      },
+      "left_camera_frame": "zed_17736741_left_rgb_camera",
+      "left_rgb_camera_T_right_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "left_stream_id": "zed_17736741_zed_m_sn17736741_left_rgb",
+      "right": {
+        "cx": 954.3006591796875,
+        "cy": 518.1399536132812,
+        "fx": 1509.0533447265625,
+        "fy": 1509.0533447265625
+      },
+      "right_camera_frame": "zed_17736741_right_rgb_camera",
+      "right_rgb_camera_T_left_rgb_camera": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "right_stream_id": "zed_17736741_zed_m_sn17736741_right_rgb",
+      "sensor_type": "zed",
+      "source_serial": "17736741",
+      "stereo_baseline_m": 0.0628473311662674,
+      "stereo_baseline_units": "meters",
+      "stereo_transform_convention": "left_rgb_camera_T_right_rgb_camera maps points from the right RGB camera frame into the left RGB camera frame: p_left = T * p_right."
+    }
+  },
+  "coordinate_frame_names": {
+    "calib_board": "calibration board frame",
+    "camera": "camera optical frame for the associated stream",
+    "panda_link0": "Franka base link frame when available",
+    "world": "workspace/world frame when available",
+    "zed_12540311_left_rgb_camera": "ZED left RGB optical camera frame. ZED depth maps are expressed in this frame.",
+    "zed_12540311_right_rgb_camera": "ZED right RGB optical camera frame.",
+    "zed_17736741_left_rgb_camera": "ZED left RGB optical camera frame. ZED depth maps are expressed in this frame.",
+    "zed_17736741_right_rgb_camera": "ZED right RGB optical camera frame."
+  },
+  "depth_scale": {
+    "zed_12540311_zed_m_sn12540311_depth": 1.0,
+    "zed_12540311_zed_m_sn12540311_left_rgb": 1.0,
+    "zed_12540311_zed_m_sn12540311_right_rgb": 1.0,
+    "zed_17736741_zed_m_sn17736741_depth": 1.0,
+    "zed_17736741_zed_m_sn17736741_left_rgb": 1.0,
+    "zed_17736741_zed_m_sn17736741_right_rgb": 1.0
+  },
+  "distortion_coefficients": {
+    "zed_12540311_zed_m_sn12540311_depth": null,
+    "zed_12540311_zed_m_sn12540311_left_rgb": null,
+    "zed_12540311_zed_m_sn12540311_right_rgb": null,
+    "zed_17736741_zed_m_sn17736741_depth": null,
+    "zed_17736741_zed_m_sn17736741_left_rgb": null,
+    "zed_17736741_zed_m_sn17736741_right_rgb": null
+  },
+  "distortion_model": {
+    "zed_12540311_zed_m_sn12540311_depth": "zed_sdk",
+    "zed_12540311_zed_m_sn12540311_left_rgb": "zed_sdk",
+    "zed_12540311_zed_m_sn12540311_right_rgb": "zed_sdk",
+    "zed_17736741_zed_m_sn17736741_depth": "zed_sdk",
+    "zed_17736741_zed_m_sn17736741_left_rgb": "zed_sdk",
+    "zed_17736741_zed_m_sn17736741_right_rgb": "zed_sdk"
+  },
+  "franka_calibration": {
+    "calibrated_pose": {
+      "rotation": [
+        0.7096544930054614,
+        0.0015325890820744414,
+        0.007009512187837589,
+        -0.7045133202905078
+      ],
+      "translation": [
+        0.1923291522578828,
+        0.6735718330757632,
+        -0.004020290338069311
+      ]
+    },
+    "child_frame": "panda_link0",
+    "estimated_pose": {
+      "rotation": [
+        0.7071067811865475,
+        0.0,
+        0.0,
+        -0.7071067811865475
+      ],
+      "translation": [
+        0.192,
+        0.68585,
+        -0.00543
+      ]
+    },
+    "keypoints": {
+      "keypoints": {
+        "board_lower_left": {
+          "rotation": [
+            0.5781660938260345,
+            0.11630369799300891,
+            -0.1780485208146446,
+            0.7877157748952431
+          ],
+          "translation": [
+            0.2898607465223991,
+            -0.19527330417231162,
+            0.007562941113989213
+          ]
+        },
+        "board_lower_right": {
+          "rotation": [
+            0.6410898029714638,
+            0.11794970680662153,
+            -0.18368763574263589,
+            0.735765304744334
+          ],
+          "translation": [
+            0.669572546189644,
+            -0.1994522077068677,
+            0.010013625096042944
+          ]
+        },
+        "board_upper_left": {
+          "rotation": [
+            0.7020886211737718,
+            -0.06760249289523575,
+            0.06824590385206368,
+            0.7055805890045987
+          ],
+          "translation": [
+            0.28898030336679464,
+            0.1903412897223454,
+            0.007537110804774537
+          ]
+        },
+        "board_upper_right": {
+          "rotation": [
+            0.6635423438989468,
+            -0.15257064040776658,
+            0.10734345255935385,
+            0.7245075159936533
+          ],
+          "translation": [
+            0.673714022952966,
+            0.18887119403552854,
+            0.01504934202085481
+          ]
+        }
+      }
+    },
+    "parent_frame": "world"
+  },
+  "intrinsics_resolution": {
+    "zed_12540311_zed_m_sn12540311_depth": [
+      1920,
+      1080
+    ],
+    "zed_12540311_zed_m_sn12540311_left_rgb": [
+      1920,
+      1080
+    ],
+    "zed_12540311_zed_m_sn12540311_right_rgb": [
+      1920,
+      1080
+    ],
+    "zed_17736741_zed_m_sn17736741_depth": [
+      1920,
+      1080
+    ],
+    "zed_17736741_zed_m_sn17736741_left_rgb": [
+      1920,
+      1080
+    ],
+    "zed_17736741_zed_m_sn17736741_right_rgb": [
+      1920,
+      1080
+    ]
+  },
+  "matrix_storage_order": "row_major",
+  "source_file_hashes": {
+    "/mnt/data0/magna/belt_perception/calibration_results/12540311/04-01-11-49-04/camera_T_calib_board.npy": "b4c3be46d6649b192bf5c65798fde6f1eb920464cf97b3110a6ed93b42eafb0f",
+    "/mnt/data0/magna/belt_perception/calibration_results/12540311/04-01-11-49-04/refined/04-01-11-49-38/init_target_frame_T_refined_target_frame.npy": "2021b74dd2476c68925794f89fab515c0063f60cbb4e2a8224d2837a53688418",
+    "/mnt/data0/magna/belt_perception/calibration_results/17736741/04-01-11-49-04/camera_T_calib_board.npy": "206ce762ee1ebee30bfbf44caa3082c0189a4e6c7bfa9a85df1d6e6f3c86e851",
+    "/mnt/data0/magna/belt_perception/calibration_results/17736741/04-01-11-49-04/refined/04-01-11-51-06/init_target_frame_T_refined_target_frame.npy": "ce680e81458ec8b2952de7cd62f0bef2d31cc043290ce8346bdc9301390f5687",
+    "/mnt/data0/magna/belt_perception/calibration_results/franka/13_02_26/franka_calibration.yaml": "d5db0f37583643999c8f4b4ae6f52e089ffc7ab1401b4f608e307a05f4b7cfb6"
+  },
+  "stereo_baseline_m": {
+    "zed_12540311_zed_m_sn12540311_depth": 0.06312009692192078,
+    "zed_12540311_zed_m_sn12540311_left_rgb": 0.06312009692192078,
+    "zed_12540311_zed_m_sn12540311_right_rgb": 0.06312009692192078,
+    "zed_17736741_zed_m_sn17736741_depth": 0.0628473311662674,
+    "zed_17736741_zed_m_sn17736741_left_rgb": 0.0628473311662674,
+    "zed_17736741_zed_m_sn17736741_right_rgb": 0.0628473311662674
+  },
+  "stereo_baseline_units": "meters",
+  "transforms": [
+    {
+      "assumed_camera_frame": "zed_12540311_left_rgb_camera",
+      "depth_frame_convention": "The source camera_T_calib_board file is interpreted as the ZED left RGB camera optical frame to calibration-board transform. ZED depth maps are also expressed in this left RGB camera frame.",
+      "legacy_name": "camera_T_calib_board",
+      "matrix": [
+        [
+          -0.5106241323237842,
+          0.8597831443440338,
+          0.005995013800548787,
+          -0.014375375301115751
+        ],
+        [
+          -0.3769490507315394,
+          -0.23012541678588183,
+          0.8971910084824276,
+          0.08572833761410292
+        ],
+        [
+          0.7727693113997047,
+          0.45586756547380125,
+          0.44160203136740206,
+          0.7256763256533304
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12540311_left_rgb_camera_T_calib_board",
+      "source_file": "/mnt/data0/magna/belt_perception/calibration_results/12540311/04-01-11-49-04/camera_T_calib_board.npy",
+      "source_file_sha256": "b4c3be46d6649b192bf5c65798fde6f1eb920464cf97b3110a6ed93b42eafb0f",
+      "transform_direction": "p_zed_12540311_left_rgb_camera = T * p_calib_board",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      }
+    },
+    {
+      "matrix": [
+        [
+          0.9998499704873919,
+          -0.01681516620765603,
+          0.004157727955431137,
+          0.0029161586393851376
+        ],
+        [
+          0.01680929579690575,
+          0.9998576727276699,
+          0.0014428660376774969,
+          -0.002003612110367602
+        ],
+        [
+          -0.004181398229590721,
+          -0.0013727610861431316,
+          0.9999903156710218,
+          -0.00022835295726832464
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "init_target_frame_T_refined_target_frame",
+      "source_file": "/mnt/data0/magna/belt_perception/calibration_results/12540311/04-01-11-49-04/refined/04-01-11-49-38/init_target_frame_T_refined_target_frame.npy",
+      "source_file_sha256": "2021b74dd2476c68925794f89fab515c0063f60cbb4e2a8224d2837a53688418",
+      "transform_direction": "p_init_target_frame = T * p_refined_target_frame",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      }
+    },
+    {
+      "assumed_camera_frame": "zed_17736741_left_rgb_camera",
+      "depth_frame_convention": "The source camera_T_calib_board file is interpreted as the ZED left RGB camera optical frame to calibration-board transform. ZED depth maps are also expressed in this left RGB camera frame.",
+      "legacy_name": "camera_T_calib_board",
+      "matrix": [
+        [
+          0.8326482869810253,
+          -0.5535039065174198,
+          0.018172937503860426,
+          -0.2211423168782783
+        ],
+        [
+          0.24657588920684947,
+          0.39991295503143953,
+          0.8827626856975057,
+          -0.011968955786919134
+        ],
+        [
+          -0.4958801882001491,
+          -0.7305498298322826,
+          0.4694675548774456,
+          0.9047504939654347
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_17736741_left_rgb_camera_T_calib_board",
+      "source_file": "/mnt/data0/magna/belt_perception/calibration_results/17736741/04-01-11-49-04/camera_T_calib_board.npy",
+      "source_file_sha256": "206ce762ee1ebee30bfbf44caa3082c0189a4e6c7bfa9a85df1d6e6f3c86e851",
+      "transform_direction": "p_zed_17736741_left_rgb_camera = T * p_calib_board",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      }
+    },
+    {
+      "matrix": [
+        [
+          0.9997726282301612,
+          0.02028197131753569,
+          -0.006582817118357711,
+          -0.00785252018967336
+        ],
+        [
+          -0.020310705653888983,
+          0.9997843488005254,
+          -0.004327947472038992,
+          0.0036735047832666314
+        ],
+        [
+          0.006493618219458948,
+          0.0044606650798264084,
+          0.9999689672131954,
+          -0.0013777237141102572
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "init_target_frame_T_refined_target_frame",
+      "source_file": "/mnt/data0/magna/belt_perception/calibration_results/17736741/04-01-11-49-04/refined/04-01-11-51-06/init_target_frame_T_refined_target_frame.npy",
+      "source_file_sha256": "ce680e81458ec8b2952de7cd62f0bef2d31cc043290ce8346bdc9301390f5687",
+      "transform_direction": "p_init_target_frame = T * p_refined_target_frame",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      }
+    },
+    {
+      "matrix": [
+        [
+          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
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12540311_left_rgb_camera_T_zed_12540311_right_rgb_camera",
+      "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+      "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+      "transform_direction": "p_zed_12540311_left_rgb_camera = T * p_zed_12540311_right_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12540311_zed_m_sn12540311_left_rgb",
+        "zed_12540311_zed_m_sn12540311_right_rgb",
+        "zed_12540311_zed_m_sn12540311_depth"
+      ]
+    },
+    {
+      "matrix": [
+        [
+          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
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_12540311_right_rgb_camera_T_zed_12540311_left_rgb_camera",
+      "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+      "source_file_sha256": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+      "transform_direction": "p_zed_12540311_right_rgb_camera = T * p_zed_12540311_left_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_12540311_zed_m_sn12540311_left_rgb",
+        "zed_12540311_zed_m_sn12540311_right_rgb",
+        "zed_12540311_zed_m_sn12540311_depth"
+      ]
+    },
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_17736741_left_rgb_camera_T_zed_17736741_right_rgb_camera",
+      "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+      "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+      "transform_direction": "p_zed_17736741_left_rgb_camera = T * p_zed_17736741_right_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_17736741_zed_m_sn17736741_left_rgb",
+        "zed_17736741_zed_m_sn17736741_right_rgb",
+        "zed_17736741_zed_m_sn17736741_depth"
+      ]
+    },
+    {
+      "matrix": [
+        [
+          1.0,
+          0.0,
+          0.0,
+          -0.0628473311662674
+        ],
+        [
+          0.0,
+          1.0,
+          0.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          1.0,
+          0.0
+        ],
+        [
+          0.0,
+          0.0,
+          0.0,
+          1.0
+        ]
+      ],
+      "matrix_storage_order": "row_major",
+      "name": "zed_17736741_right_rgb_camera_T_zed_17736741_left_rgb_camera",
+      "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+      "source_file_sha256": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0",
+      "transform_direction": "p_zed_17736741_right_rgb_camera = T * p_zed_17736741_left_rgb_camera",
+      "units": {
+        "rotation": "unitless_rotation_matrix",
+        "translation": "meters"
+      },
+      "valid_stream_ids": [
+        "zed_17736741_zed_m_sn17736741_left_rgb",
+        "zed_17736741_zed_m_sn17736741_right_rgb",
+        "zed_17736741_zed_m_sn17736741_depth"
+      ]
+    }
+  ],
+  "units": {
+    "depth": "stream-specific, see per-stream depth_scale",
+    "rotation": "unitless",
+    "translation": "meters"
+  },
+  "valid_stream_ids": [
+    "zed_12540311_zed_m_sn12540311_left_rgb",
+    "zed_12540311_zed_m_sn12540311_right_rgb",
+    "zed_12540311_zed_m_sn12540311_depth",
+    "zed_17736741_zed_m_sn17736741_left_rgb",
+    "zed_17736741_zed_m_sn17736741_right_rgb",
+    "zed_17736741_zed_m_sn17736741_depth"
+  ]
+}

sessions/session_20260401_115938/metadata/discovery_report.json

@@ -0,0 +1,38 @@
+{
+  "clock_policy": {
+    "auxiliary_timestamps": "ZED/RealSense/device/robot timestamps are preserved but not assumed to share a domain",
+    "default_sync_time": "host_time_ns when joined by verified identity/order and monotonic",
+    "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."
+    ]
+  },
+  "recording_dir": "recordings/20260401_115938",
+  "recording_metadata": {},
+  "source_files": [
+    {
+      "name": "ZED-M_SN12540311.svo2",
+      "path": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+      "sha256": null,
+      "size_bytes": 83773250,
+      "suffix": ".svo2"
+    },
+    {
+      "name": "ZED-M_SN17736741.svo2",
+      "path": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+      "sha256": null,
+      "size_bytes": 78633036,
+      "suffix": ".svo2"
+    }
+  ],
+  "timestamp_sidecars": []
+}

sessions/session_20260401_115938/metadata/discovery_report.md

@@ -0,0 +1,30 @@
+# Recording Discovery Report
+
+Recording directory: `recordings/20260401_115938`
+
+## Clock Policy
+
+- Do not assume camera/device/robot timestamps share a clock domain.
+- 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`: 83773250 bytes
+- `ZED-M_SN17736741.svo2`: 78633036 bytes
+
+## Timestamp Sidecars
+
+
+## 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_20260401_115938/metadata/raw_stream_summary.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a387d00a74f52cfc32f51d5c6c04a0b2949e73c515c69e51415f82720a7e6ba0
+size 13768

sessions/session_20260401_115938/metadata/session.json

@@ -0,0 +1,30 @@
+{
+  "conversion_time": "2026-04-28T21:04:16.133848+00:00",
+  "converter_command": [
+    "/mnt/data0/magna/belt_perception/.venv/bin/python3",
+    "-m",
+    "dataset_converter.convert_session",
+    "--recording-dir",
+    "recordings/20260401_115938",
+    "--output-root",
+    "tracking_dataset",
+    "--session-id",
+    "session_20260401_115938",
+    "--extrinsic-calibration-dir-name",
+    "04-01-11-49-04",
+    "--validate",
+    "--no-extract-robot-states",
+    "--overwrite"
+  ],
+  "converter_git_commit": "ff1a3488ec375fd4a2362944ac5a0e0ec90feea3",
+  "dataset_format_version": "0.1.0",
+  "ffmpeg_version": "ffmpeg version 4.4.2-0ubuntu0.22.04.1 Copyright (c) 2000-2021 the FFmpeg developers",
+  "pyav_version": "17.0.1",
+  "realsense_sdk_version": "2.57.7.10387",
+  "session_id": "session_20260401_115938",
+  "source_file_hashes": {
+    "recordings/20260401_115938/ZED-M_SN12540311.svo2": "6939626e130c86a7ad4efd892b3a21ed096dc6731b27d65e8899f696f759cf7f",
+    "recordings/20260401_115938/ZED-M_SN17736741.svo2": "4bc7ce9005e5ad62c67948b2bd74c4ddc1e088832b69c6668425c58c430070f0"
+  },
+  "zed_sdk_version": "5.2.3"
+}

sessions/session_20260401_115938/metadata/session_manifest.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db017a6690bab28102c66ad21785bf12939b74b1c47447a9b6fb1d53c2cd6489
+size 7505

sessions/session_20260401_115938/metadata/streams.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc9243c7de0e65bae63e34aba79fc8ccc69cfaa79d9f496d99a6a9c2bb60de1f
+size 18489

sessions/session_20260401_115938/metadata/validation_report.json

@@ -0,0 +1,4283 @@
+{
+  "errors": [],
+  "session_path": "tracking_dataset/sessions/session_20260401_115938",
+  "status": "passed",
+  "streams": {
+    "zed_12540311_zed_m_sn12540311_depth": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67196000,
+        "median_gap_ns": 66994000.0,
+        "non_monotonic_acquisition_timestamp_count": 0
+      },
+      "decoded_frame_count": 660,
+      "decoded_validation": "passed",
+      "frames_table_count": 660,
+      "non_monotonic_sync_timestamp_count": 0,
+      "raw_stream_summary": {
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67196000,
+        "median_gap_ns": 66994000.0,
+        "modality": "depth",
+        "non_monotonic_timestamp_count": 0,
+        "sensor_type": "zed",
+        "session_id": "session_20260401_115938",
+        "sidecar_join_status": "no_sidecar",
+        "sidecar_match_rate": 0.0,
+        "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+        "source_frame_count": 660,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148,
+          149,
+          150,
+          151,
+          152,
+          153,
+          154,
+          155,
+          156,
+          157,
+          158,
+          159,
+          160,
+          161,
+          162,
+          163,
+          164,
+          165,
+          166,
+          167,
+          168,
+          169,
+          170,
+          171,
+          172,
+          173,
+          174,
+          175,
+          176,
+          177,
+          178,
+          179,
+          180,
+          181,
+          182,
+          183,
+          184,
+          185,
+          186,
+          187,
+          188,
+          189,
+          190,
+          191,
+          192,
+          193,
+          194,
+          195,
+          196,
+          197,
+          198,
+          199,
+          200,
+          201,
+          202,
+          203,
+          204,
+          205,
+          206,
+          207,
+          208,
+          209,
+          210,
+          211,
+          212,
+          213,
+          214,
+          215,
+          216,
+          217,
+          218,
+          219,
+          220,
+          221,
+          222,
+          223,
+          224,
+          225,
+          226,
+          227,
+          228,
+          229,
+          230,
+          231,
+          232,
+          233,
+          234,
+          235,
+          236,
+          237,
+          238,
+          239,
+          240,
+          241,
+          242,
+          243,
+          244,
+          245,
+          246,
+          247,
+          248,
+          249,
+          250,
+          251,
+          252,
+          253,
+          254,
+          255,
+          256,
+          257,
+          258,
+          259,
+          260,
+          261,
+          262,
+          263,
+          264,
+          265,
+          266,
+          267,
+          268,
+          269,
+          270,
+          271,
+          272,
+          273,
+          274,
+          275,
+          276,
+          277,
+          278,
+          279,
+          280,
+          281,
+          282,
+          283,
+          284,
+          285,
+          286,
+          287,
+          288,
+          289,
+          290,
+          291,
+          292,
+          293,
+          294,
+          295,
+          296,
+          297,
+          298,
+          299,
+          300,
+          301,
+          302,
+          303,
+          304,
+          305,
+          306,
+          307,
+          308,
+          309,
+          310,
+          311,
+          312,
+          313,
+          314,
+          315,
+          316,
+          317,
+          318,
+          319,
+          320,
+          321,
+          322,
+          323,
+          324,
+          325,
+          326,
+          327,
+          328,
+          329,
+          330,
+          331,
+          332,
+          333,
+          334,
+          335,
+          336,
+          337,
+          338,
+          339,
+          340,
+          341,
+          342,
+          343,
+          344,
+          345,
+          346,
+          347,
+          348,
+          349,
+          350,
+          351,
+          352,
+          353,
+          354,
+          355,
+          356,
+          357,
+          358,
+          359,
+          360,
+          361,
+          362,
+          363,
+          364,
+          365,
+          366,
+          367,
+          368,
+          369,
+          370,
+          371,
+          372,
+          373,
+          374,
+          375,
+          376,
+          377,
+          378,
+          379,
+          380,
+          381,
+          382,
+          383,
+          384,
+          385,
+          386,
+          387,
+          388,
+          389,
+          390,
+          391,
+          392,
+          393,
+          394,
+          395,
+          396,
+          397,
+          398,
+          399,
+          400,
+          401,
+          402,
+          403,
+          404,
+          405,
+          406,
+          407,
+          408,
+          409,
+          410,
+          411,
+          412,
+          413,
+          414,
+          415,
+          416,
+          417,
+          418,
+          419,
+          420,
+          421,
+          422,
+          423,
+          424,
+          425,
+          426,
+          427,
+          428,
+          429,
+          430,
+          431,
+          432,
+          433,
+          434,
+          435,
+          436,
+          437,
+          438,
+          439,
+          440,
+          441,
+          442,
+          443,
+          444,
+          445,
+          446,
+          447,
+          448,
+          449,
+          450,
+          451,
+          452,
+          453,
+          454,
+          455,
+          456,
+          457,
+          458,
+          459,
+          460,
+          461,
+          462,
+          463,
+          464,
+          465,
+          466,
+          467,
+          468,
+          469,
+          470,
+          471,
+          472,
+          473,
+          474,
+          475,
+          476,
+          477,
+          478,
+          479,
+          480,
+          481,
+          482,
+          483,
+          484,
+          485,
+          486,
+          487,
+          488,
+          489,
+          490,
+          491,
+          492,
+          493,
+          494,
+          495,
+          496,
+          497,
+          498,
+          499,
+          500,
+          501,
+          502,
+          503,
+          504,
+          505,
+          506,
+          507,
+          508,
+          509,
+          510,
+          511,
+          512,
+          513,
+          514,
+          515,
+          516,
+          517,
+          518,
+          519,
+          520,
+          521,
+          522,
+          523,
+          524,
+          525,
+          526,
+          527,
+          528,
+          529,
+          530,
+          531,
+          532,
+          533,
+          534,
+          535,
+          536,
+          537,
+          538,
+          539,
+          540,
+          541,
+          542,
+          543,
+          544,
+          545,
+          546,
+          547,
+          548,
+          549,
+          550,
+          551,
+          552,
+          553,
+          554,
+          555,
+          556,
+          557,
+          558,
+          559,
+          560,
+          561,
+          562,
+          563,
+          564,
+          565,
+          566,
+          567,
+          568,
+          569,
+          570,
+          571,
+          572,
+          573,
+          574,
+          575,
+          576,
+          577,
+          578,
+          579,
+          580,
+          581,
+          582,
+          583,
+          584,
+          585,
+          586,
+          587,
+          588,
+          589,
+          590,
+          591,
+          592,
+          593,
+          594,
+          595,
+          596,
+          597,
+          598,
+          599,
+          600,
+          601,
+          602,
+          603,
+          604,
+          605,
+          606,
+          607,
+          608,
+          609,
+          610,
+          611,
+          612,
+          613,
+          614,
+          615,
+          616,
+          617,
+          618,
+          619,
+          620,
+          621,
+          622,
+          623,
+          624,
+          625,
+          626,
+          627,
+          628,
+          629,
+          630,
+          631,
+          632,
+          633,
+          634,
+          635,
+          636,
+          637,
+          638,
+          639,
+          640,
+          641,
+          642,
+          643,
+          644,
+          645,
+          646,
+          647,
+          648,
+          649,
+          650,
+          651,
+          652,
+          653,
+          654,
+          655,
+          656,
+          657,
+          658,
+          659
+        ],
+        "stream_id": "zed_12540311_zed_m_sn12540311_depth",
+        "timestamp_max_ns": 1775059227967777000,
+        "timestamp_min_ns": 1775059183823876000,
+        "warnings": [
+          "no_sidecar"
+        ]
+      },
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1775059227967777000,
+      "timestamp_min_ns": 1775059183823876000,
+      "warnings": []
+    },
+    "zed_12540311_zed_m_sn12540311_left_rgb": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67196000,
+        "median_gap_ns": 66994000.0,
+        "non_monotonic_acquisition_timestamp_count": 0
+      },
+      "decoded_frame_count": 660,
+      "decoded_validation": "passed",
+      "frames_table_count": 660,
+      "non_monotonic_sync_timestamp_count": 0,
+      "raw_stream_summary": {
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67196000,
+        "median_gap_ns": 66994000.0,
+        "modality": "left_rgb",
+        "non_monotonic_timestamp_count": 0,
+        "sensor_type": "zed",
+        "session_id": "session_20260401_115938",
+        "sidecar_join_status": "no_sidecar",
+        "sidecar_match_rate": 0.0,
+        "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+        "source_frame_count": 660,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148,
+          149,
+          150,
+          151,
+          152,
+          153,
+          154,
+          155,
+          156,
+          157,
+          158,
+          159,
+          160,
+          161,
+          162,
+          163,
+          164,
+          165,
+          166,
+          167,
+          168,
+          169,
+          170,
+          171,
+          172,
+          173,
+          174,
+          175,
+          176,
+          177,
+          178,
+          179,
+          180,
+          181,
+          182,
+          183,
+          184,
+          185,
+          186,
+          187,
+          188,
+          189,
+          190,
+          191,
+          192,
+          193,
+          194,
+          195,
+          196,
+          197,
+          198,
+          199,
+          200,
+          201,
+          202,
+          203,
+          204,
+          205,
+          206,
+          207,
+          208,
+          209,
+          210,
+          211,
+          212,
+          213,
+          214,
+          215,
+          216,
+          217,
+          218,
+          219,
+          220,
+          221,
+          222,
+          223,
+          224,
+          225,
+          226,
+          227,
+          228,
+          229,
+          230,
+          231,
+          232,
+          233,
+          234,
+          235,
+          236,
+          237,
+          238,
+          239,
+          240,
+          241,
+          242,
+          243,
+          244,
+          245,
+          246,
+          247,
+          248,
+          249,
+          250,
+          251,
+          252,
+          253,
+          254,
+          255,
+          256,
+          257,
+          258,
+          259,
+          260,
+          261,
+          262,
+          263,
+          264,
+          265,
+          266,
+          267,
+          268,
+          269,
+          270,
+          271,
+          272,
+          273,
+          274,
+          275,
+          276,
+          277,
+          278,
+          279,
+          280,
+          281,
+          282,
+          283,
+          284,
+          285,
+          286,
+          287,
+          288,
+          289,
+          290,
+          291,
+          292,
+          293,
+          294,
+          295,
+          296,
+          297,
+          298,
+          299,
+          300,
+          301,
+          302,
+          303,
+          304,
+          305,
+          306,
+          307,
+          308,
+          309,
+          310,
+          311,
+          312,
+          313,
+          314,
+          315,
+          316,
+          317,
+          318,
+          319,
+          320,
+          321,
+          322,
+          323,
+          324,
+          325,
+          326,
+          327,
+          328,
+          329,
+          330,
+          331,
+          332,
+          333,
+          334,
+          335,
+          336,
+          337,
+          338,
+          339,
+          340,
+          341,
+          342,
+          343,
+          344,
+          345,
+          346,
+          347,
+          348,
+          349,
+          350,
+          351,
+          352,
+          353,
+          354,
+          355,
+          356,
+          357,
+          358,
+          359,
+          360,
+          361,
+          362,
+          363,
+          364,
+          365,
+          366,
+          367,
+          368,
+          369,
+          370,
+          371,
+          372,
+          373,
+          374,
+          375,
+          376,
+          377,
+          378,
+          379,
+          380,
+          381,
+          382,
+          383,
+          384,
+          385,
+          386,
+          387,
+          388,
+          389,
+          390,
+          391,
+          392,
+          393,
+          394,
+          395,
+          396,
+          397,
+          398,
+          399,
+          400,
+          401,
+          402,
+          403,
+          404,
+          405,
+          406,
+          407,
+          408,
+          409,
+          410,
+          411,
+          412,
+          413,
+          414,
+          415,
+          416,
+          417,
+          418,
+          419,
+          420,
+          421,
+          422,
+          423,
+          424,
+          425,
+          426,
+          427,
+          428,
+          429,
+          430,
+          431,
+          432,
+          433,
+          434,
+          435,
+          436,
+          437,
+          438,
+          439,
+          440,
+          441,
+          442,
+          443,
+          444,
+          445,
+          446,
+          447,
+          448,
+          449,
+          450,
+          451,
+          452,
+          453,
+          454,
+          455,
+          456,
+          457,
+          458,
+          459,
+          460,
+          461,
+          462,
+          463,
+          464,
+          465,
+          466,
+          467,
+          468,
+          469,
+          470,
+          471,
+          472,
+          473,
+          474,
+          475,
+          476,
+          477,
+          478,
+          479,
+          480,
+          481,
+          482,
+          483,
+          484,
+          485,
+          486,
+          487,
+          488,
+          489,
+          490,
+          491,
+          492,
+          493,
+          494,
+          495,
+          496,
+          497,
+          498,
+          499,
+          500,
+          501,
+          502,
+          503,
+          504,
+          505,
+          506,
+          507,
+          508,
+          509,
+          510,
+          511,
+          512,
+          513,
+          514,
+          515,
+          516,
+          517,
+          518,
+          519,
+          520,
+          521,
+          522,
+          523,
+          524,
+          525,
+          526,
+          527,
+          528,
+          529,
+          530,
+          531,
+          532,
+          533,
+          534,
+          535,
+          536,
+          537,
+          538,
+          539,
+          540,
+          541,
+          542,
+          543,
+          544,
+          545,
+          546,
+          547,
+          548,
+          549,
+          550,
+          551,
+          552,
+          553,
+          554,
+          555,
+          556,
+          557,
+          558,
+          559,
+          560,
+          561,
+          562,
+          563,
+          564,
+          565,
+          566,
+          567,
+          568,
+          569,
+          570,
+          571,
+          572,
+          573,
+          574,
+          575,
+          576,
+          577,
+          578,
+          579,
+          580,
+          581,
+          582,
+          583,
+          584,
+          585,
+          586,
+          587,
+          588,
+          589,
+          590,
+          591,
+          592,
+          593,
+          594,
+          595,
+          596,
+          597,
+          598,
+          599,
+          600,
+          601,
+          602,
+          603,
+          604,
+          605,
+          606,
+          607,
+          608,
+          609,
+          610,
+          611,
+          612,
+          613,
+          614,
+          615,
+          616,
+          617,
+          618,
+          619,
+          620,
+          621,
+          622,
+          623,
+          624,
+          625,
+          626,
+          627,
+          628,
+          629,
+          630,
+          631,
+          632,
+          633,
+          634,
+          635,
+          636,
+          637,
+          638,
+          639,
+          640,
+          641,
+          642,
+          643,
+          644,
+          645,
+          646,
+          647,
+          648,
+          649,
+          650,
+          651,
+          652,
+          653,
+          654,
+          655,
+          656,
+          657,
+          658,
+          659
+        ],
+        "stream_id": "zed_12540311_zed_m_sn12540311_left_rgb",
+        "timestamp_max_ns": 1775059227967777000,
+        "timestamp_min_ns": 1775059183823876000,
+        "warnings": [
+          "no_sidecar"
+        ]
+      },
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1775059227967777000,
+      "timestamp_min_ns": 1775059183823876000,
+      "warnings": []
+    },
+    "zed_12540311_zed_m_sn12540311_right_rgb": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67196000,
+        "median_gap_ns": 66994000.0,
+        "non_monotonic_acquisition_timestamp_count": 0
+      },
+      "decoded_frame_count": 660,
+      "decoded_validation": "passed",
+      "frames_table_count": 660,
+      "non_monotonic_sync_timestamp_count": 0,
+      "raw_stream_summary": {
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67196000,
+        "median_gap_ns": 66994000.0,
+        "modality": "right_rgb",
+        "non_monotonic_timestamp_count": 0,
+        "sensor_type": "zed",
+        "session_id": "session_20260401_115938",
+        "sidecar_join_status": "no_sidecar",
+        "sidecar_match_rate": 0.0,
+        "source_file": "recordings/20260401_115938/ZED-M_SN12540311.svo2",
+        "source_frame_count": 660,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148,
+          149,
+          150,
+          151,
+          152,
+          153,
+          154,
+          155,
+          156,
+          157,
+          158,
+          159,
+          160,
+          161,
+          162,
+          163,
+          164,
+          165,
+          166,
+          167,
+          168,
+          169,
+          170,
+          171,
+          172,
+          173,
+          174,
+          175,
+          176,
+          177,
+          178,
+          179,
+          180,
+          181,
+          182,
+          183,
+          184,
+          185,
+          186,
+          187,
+          188,
+          189,
+          190,
+          191,
+          192,
+          193,
+          194,
+          195,
+          196,
+          197,
+          198,
+          199,
+          200,
+          201,
+          202,
+          203,
+          204,
+          205,
+          206,
+          207,
+          208,
+          209,
+          210,
+          211,
+          212,
+          213,
+          214,
+          215,
+          216,
+          217,
+          218,
+          219,
+          220,
+          221,
+          222,
+          223,
+          224,
+          225,
+          226,
+          227,
+          228,
+          229,
+          230,
+          231,
+          232,
+          233,
+          234,
+          235,
+          236,
+          237,
+          238,
+          239,
+          240,
+          241,
+          242,
+          243,
+          244,
+          245,
+          246,
+          247,
+          248,
+          249,
+          250,
+          251,
+          252,
+          253,
+          254,
+          255,
+          256,
+          257,
+          258,
+          259,
+          260,
+          261,
+          262,
+          263,
+          264,
+          265,
+          266,
+          267,
+          268,
+          269,
+          270,
+          271,
+          272,
+          273,
+          274,
+          275,
+          276,
+          277,
+          278,
+          279,
+          280,
+          281,
+          282,
+          283,
+          284,
+          285,
+          286,
+          287,
+          288,
+          289,
+          290,
+          291,
+          292,
+          293,
+          294,
+          295,
+          296,
+          297,
+          298,
+          299,
+          300,
+          301,
+          302,
+          303,
+          304,
+          305,
+          306,
+          307,
+          308,
+          309,
+          310,
+          311,
+          312,
+          313,
+          314,
+          315,
+          316,
+          317,
+          318,
+          319,
+          320,
+          321,
+          322,
+          323,
+          324,
+          325,
+          326,
+          327,
+          328,
+          329,
+          330,
+          331,
+          332,
+          333,
+          334,
+          335,
+          336,
+          337,
+          338,
+          339,
+          340,
+          341,
+          342,
+          343,
+          344,
+          345,
+          346,
+          347,
+          348,
+          349,
+          350,
+          351,
+          352,
+          353,
+          354,
+          355,
+          356,
+          357,
+          358,
+          359,
+          360,
+          361,
+          362,
+          363,
+          364,
+          365,
+          366,
+          367,
+          368,
+          369,
+          370,
+          371,
+          372,
+          373,
+          374,
+          375,
+          376,
+          377,
+          378,
+          379,
+          380,
+          381,
+          382,
+          383,
+          384,
+          385,
+          386,
+          387,
+          388,
+          389,
+          390,
+          391,
+          392,
+          393,
+          394,
+          395,
+          396,
+          397,
+          398,
+          399,
+          400,
+          401,
+          402,
+          403,
+          404,
+          405,
+          406,
+          407,
+          408,
+          409,
+          410,
+          411,
+          412,
+          413,
+          414,
+          415,
+          416,
+          417,
+          418,
+          419,
+          420,
+          421,
+          422,
+          423,
+          424,
+          425,
+          426,
+          427,
+          428,
+          429,
+          430,
+          431,
+          432,
+          433,
+          434,
+          435,
+          436,
+          437,
+          438,
+          439,
+          440,
+          441,
+          442,
+          443,
+          444,
+          445,
+          446,
+          447,
+          448,
+          449,
+          450,
+          451,
+          452,
+          453,
+          454,
+          455,
+          456,
+          457,
+          458,
+          459,
+          460,
+          461,
+          462,
+          463,
+          464,
+          465,
+          466,
+          467,
+          468,
+          469,
+          470,
+          471,
+          472,
+          473,
+          474,
+          475,
+          476,
+          477,
+          478,
+          479,
+          480,
+          481,
+          482,
+          483,
+          484,
+          485,
+          486,
+          487,
+          488,
+          489,
+          490,
+          491,
+          492,
+          493,
+          494,
+          495,
+          496,
+          497,
+          498,
+          499,
+          500,
+          501,
+          502,
+          503,
+          504,
+          505,
+          506,
+          507,
+          508,
+          509,
+          510,
+          511,
+          512,
+          513,
+          514,
+          515,
+          516,
+          517,
+          518,
+          519,
+          520,
+          521,
+          522,
+          523,
+          524,
+          525,
+          526,
+          527,
+          528,
+          529,
+          530,
+          531,
+          532,
+          533,
+          534,
+          535,
+          536,
+          537,
+          538,
+          539,
+          540,
+          541,
+          542,
+          543,
+          544,
+          545,
+          546,
+          547,
+          548,
+          549,
+          550,
+          551,
+          552,
+          553,
+          554,
+          555,
+          556,
+          557,
+          558,
+          559,
+          560,
+          561,
+          562,
+          563,
+          564,
+          565,
+          566,
+          567,
+          568,
+          569,
+          570,
+          571,
+          572,
+          573,
+          574,
+          575,
+          576,
+          577,
+          578,
+          579,
+          580,
+          581,
+          582,
+          583,
+          584,
+          585,
+          586,
+          587,
+          588,
+          589,
+          590,
+          591,
+          592,
+          593,
+          594,
+          595,
+          596,
+          597,
+          598,
+          599,
+          600,
+          601,
+          602,
+          603,
+          604,
+          605,
+          606,
+          607,
+          608,
+          609,
+          610,
+          611,
+          612,
+          613,
+          614,
+          615,
+          616,
+          617,
+          618,
+          619,
+          620,
+          621,
+          622,
+          623,
+          624,
+          625,
+          626,
+          627,
+          628,
+          629,
+          630,
+          631,
+          632,
+          633,
+          634,
+          635,
+          636,
+          637,
+          638,
+          639,
+          640,
+          641,
+          642,
+          643,
+          644,
+          645,
+          646,
+          647,
+          648,
+          649,
+          650,
+          651,
+          652,
+          653,
+          654,
+          655,
+          656,
+          657,
+          658,
+          659
+        ],
+        "stream_id": "zed_12540311_zed_m_sn12540311_right_rgb",
+        "timestamp_max_ns": 1775059227967777000,
+        "timestamp_min_ns": 1775059183823876000,
+        "warnings": [
+          "no_sidecar"
+        ]
+      },
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1775059227967777000,
+      "timestamp_min_ns": 1775059183823876000,
+      "warnings": []
+    },
+    "zed_17736741_zed_m_sn17736741_depth": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67367000,
+        "median_gap_ns": 66988000.0,
+        "non_monotonic_acquisition_timestamp_count": 0
+      },
+      "decoded_frame_count": 661,
+      "decoded_validation": "passed",
+      "frames_table_count": 661,
+      "non_monotonic_sync_timestamp_count": 0,
+      "raw_stream_summary": {
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67367000,
+        "median_gap_ns": 66988000.0,
+        "modality": "depth",
+        "non_monotonic_timestamp_count": 0,
+        "sensor_type": "zed",
+        "session_id": "session_20260401_115938",
+        "sidecar_join_status": "no_sidecar",
+        "sidecar_match_rate": 0.0,
+        "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+        "source_frame_count": 661,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148,
+          149,
+          150,
+          151,
+          152,
+          153,
+          154,
+          155,
+          156,
+          157,
+          158,
+          159,
+          160,
+          161,
+          162,
+          163,
+          164,
+          165,
+          166,
+          167,
+          168,
+          169,
+          170,
+          171,
+          172,
+          173,
+          174,
+          175,
+          176,
+          177,
+          178,
+          179,
+          180,
+          181,
+          182,
+          183,
+          184,
+          185,
+          186,
+          187,
+          188,
+          189,
+          190,
+          191,
+          192,
+          193,
+          194,
+          195,
+          196,
+          197,
+          198,
+          199,
+          200,
+          201,
+          202,
+          203,
+          204,
+          205,
+          206,
+          207,
+          208,
+          209,
+          210,
+          211,
+          212,
+          213,
+          214,
+          215,
+          216,
+          217,
+          218,
+          219,
+          220,
+          221,
+          222,
+          223,
+          224,
+          225,
+          226,
+          227,
+          228,
+          229,
+          230,
+          231,
+          232,
+          233,
+          234,
+          235,
+          236,
+          237,
+          238,
+          239,
+          240,
+          241,
+          242,
+          243,
+          244,
+          245,
+          246,
+          247,
+          248,
+          249,
+          250,
+          251,
+          252,
+          253,
+          254,
+          255,
+          256,
+          257,
+          258,
+          259,
+          260,
+          261,
+          262,
+          263,
+          264,
+          265,
+          266,
+          267,
+          268,
+          269,
+          270,
+          271,
+          272,
+          273,
+          274,
+          275,
+          276,
+          277,
+          278,
+          279,
+          280,
+          281,
+          282,
+          283,
+          284,
+          285,
+          286,
+          287,
+          288,
+          289,
+          290,
+          291,
+          292,
+          293,
+          294,
+          295,
+          296,
+          297,
+          298,
+          299,
+          300,
+          301,
+          302,
+          303,
+          304,
+          305,
+          306,
+          307,
+          308,
+          309,
+          310,
+          311,
+          312,
+          313,
+          314,
+          315,
+          316,
+          317,
+          318,
+          319,
+          320,
+          321,
+          322,
+          323,
+          324,
+          325,
+          326,
+          327,
+          328,
+          329,
+          330,
+          331,
+          332,
+          333,
+          334,
+          335,
+          336,
+          337,
+          338,
+          339,
+          340,
+          341,
+          342,
+          343,
+          344,
+          345,
+          346,
+          347,
+          348,
+          349,
+          350,
+          351,
+          352,
+          353,
+          354,
+          355,
+          356,
+          357,
+          358,
+          359,
+          360,
+          361,
+          362,
+          363,
+          364,
+          365,
+          366,
+          367,
+          368,
+          369,
+          370,
+          371,
+          372,
+          373,
+          374,
+          375,
+          376,
+          377,
+          378,
+          379,
+          380,
+          381,
+          382,
+          383,
+          384,
+          385,
+          386,
+          387,
+          388,
+          389,
+          390,
+          391,
+          392,
+          393,
+          394,
+          395,
+          396,
+          397,
+          398,
+          399,
+          400,
+          401,
+          402,
+          403,
+          404,
+          405,
+          406,
+          407,
+          408,
+          409,
+          410,
+          411,
+          412,
+          413,
+          414,
+          415,
+          416,
+          417,
+          418,
+          419,
+          420,
+          421,
+          422,
+          423,
+          424,
+          425,
+          426,
+          427,
+          428,
+          429,
+          430,
+          431,
+          432,
+          433,
+          434,
+          435,
+          436,
+          437,
+          438,
+          439,
+          440,
+          441,
+          442,
+          443,
+          444,
+          445,
+          446,
+          447,
+          448,
+          449,
+          450,
+          451,
+          452,
+          453,
+          454,
+          455,
+          456,
+          457,
+          458,
+          459,
+          460,
+          461,
+          462,
+          463,
+          464,
+          465,
+          466,
+          467,
+          468,
+          469,
+          470,
+          471,
+          472,
+          473,
+          474,
+          475,
+          476,
+          477,
+          478,
+          479,
+          480,
+          481,
+          482,
+          483,
+          484,
+          485,
+          486,
+          487,
+          488,
+          489,
+          490,
+          491,
+          492,
+          493,
+          494,
+          495,
+          496,
+          497,
+          498,
+          499,
+          500,
+          501,
+          502,
+          503,
+          504,
+          505,
+          506,
+          507,
+          508,
+          509,
+          510,
+          511,
+          512,
+          513,
+          514,
+          515,
+          516,
+          517,
+          518,
+          519,
+          520,
+          521,
+          522,
+          523,
+          524,
+          525,
+          526,
+          527,
+          528,
+          529,
+          530,
+          531,
+          532,
+          533,
+          534,
+          535,
+          536,
+          537,
+          538,
+          539,
+          540,
+          541,
+          542,
+          543,
+          544,
+          545,
+          546,
+          547,
+          548,
+          549,
+          550,
+          551,
+          552,
+          553,
+          554,
+          555,
+          556,
+          557,
+          558,
+          559,
+          560,
+          561,
+          562,
+          563,
+          564,
+          565,
+          566,
+          567,
+          568,
+          569,
+          570,
+          571,
+          572,
+          573,
+          574,
+          575,
+          576,
+          577,
+          578,
+          579,
+          580,
+          581,
+          582,
+          583,
+          584,
+          585,
+          586,
+          587,
+          588,
+          589,
+          590,
+          591,
+          592,
+          593,
+          594,
+          595,
+          596,
+          597,
+          598,
+          599,
+          600,
+          601,
+          602,
+          603,
+          604,
+          605,
+          606,
+          607,
+          608,
+          609,
+          610,
+          611,
+          612,
+          613,
+          614,
+          615,
+          616,
+          617,
+          618,
+          619,
+          620,
+          621,
+          622,
+          623,
+          624,
+          625,
+          626,
+          627,
+          628,
+          629,
+          630,
+          631,
+          632,
+          633,
+          634,
+          635,
+          636,
+          637,
+          638,
+          639,
+          640,
+          641,
+          642,
+          643,
+          644,
+          645,
+          646,
+          647,
+          648,
+          649,
+          650,
+          651,
+          652,
+          653,
+          654,
+          655,
+          656,
+          657,
+          658,
+          659,
+          660
+        ],
+        "stream_id": "zed_17736741_zed_m_sn17736741_depth",
+        "timestamp_max_ns": 1775059227932139000,
+        "timestamp_min_ns": 1775059183721024000,
+        "warnings": [
+          "no_sidecar"
+        ]
+      },
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1775059227932139000,
+      "timestamp_min_ns": 1775059183721024000,
+      "warnings": []
+    },
+    "zed_17736741_zed_m_sn17736741_left_rgb": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67367000,
+        "median_gap_ns": 66988000.0,
+        "non_monotonic_acquisition_timestamp_count": 0
+      },
+      "decoded_frame_count": 661,
+      "decoded_validation": "passed",
+      "frames_table_count": 661,
+      "non_monotonic_sync_timestamp_count": 0,
+      "raw_stream_summary": {
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67367000,
+        "median_gap_ns": 66988000.0,
+        "modality": "left_rgb",
+        "non_monotonic_timestamp_count": 0,
+        "sensor_type": "zed",
+        "session_id": "session_20260401_115938",
+        "sidecar_join_status": "no_sidecar",
+        "sidecar_match_rate": 0.0,
+        "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+        "source_frame_count": 661,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148,
+          149,
+          150,
+          151,
+          152,
+          153,
+          154,
+          155,
+          156,
+          157,
+          158,
+          159,
+          160,
+          161,
+          162,
+          163,
+          164,
+          165,
+          166,
+          167,
+          168,
+          169,
+          170,
+          171,
+          172,
+          173,
+          174,
+          175,
+          176,
+          177,
+          178,
+          179,
+          180,
+          181,
+          182,
+          183,
+          184,
+          185,
+          186,
+          187,
+          188,
+          189,
+          190,
+          191,
+          192,
+          193,
+          194,
+          195,
+          196,
+          197,
+          198,
+          199,
+          200,
+          201,
+          202,
+          203,
+          204,
+          205,
+          206,
+          207,
+          208,
+          209,
+          210,
+          211,
+          212,
+          213,
+          214,
+          215,
+          216,
+          217,
+          218,
+          219,
+          220,
+          221,
+          222,
+          223,
+          224,
+          225,
+          226,
+          227,
+          228,
+          229,
+          230,
+          231,
+          232,
+          233,
+          234,
+          235,
+          236,
+          237,
+          238,
+          239,
+          240,
+          241,
+          242,
+          243,
+          244,
+          245,
+          246,
+          247,
+          248,
+          249,
+          250,
+          251,
+          252,
+          253,
+          254,
+          255,
+          256,
+          257,
+          258,
+          259,
+          260,
+          261,
+          262,
+          263,
+          264,
+          265,
+          266,
+          267,
+          268,
+          269,
+          270,
+          271,
+          272,
+          273,
+          274,
+          275,
+          276,
+          277,
+          278,
+          279,
+          280,
+          281,
+          282,
+          283,
+          284,
+          285,
+          286,
+          287,
+          288,
+          289,
+          290,
+          291,
+          292,
+          293,
+          294,
+          295,
+          296,
+          297,
+          298,
+          299,
+          300,
+          301,
+          302,
+          303,
+          304,
+          305,
+          306,
+          307,
+          308,
+          309,
+          310,
+          311,
+          312,
+          313,
+          314,
+          315,
+          316,
+          317,
+          318,
+          319,
+          320,
+          321,
+          322,
+          323,
+          324,
+          325,
+          326,
+          327,
+          328,
+          329,
+          330,
+          331,
+          332,
+          333,
+          334,
+          335,
+          336,
+          337,
+          338,
+          339,
+          340,
+          341,
+          342,
+          343,
+          344,
+          345,
+          346,
+          347,
+          348,
+          349,
+          350,
+          351,
+          352,
+          353,
+          354,
+          355,
+          356,
+          357,
+          358,
+          359,
+          360,
+          361,
+          362,
+          363,
+          364,
+          365,
+          366,
+          367,
+          368,
+          369,
+          370,
+          371,
+          372,
+          373,
+          374,
+          375,
+          376,
+          377,
+          378,
+          379,
+          380,
+          381,
+          382,
+          383,
+          384,
+          385,
+          386,
+          387,
+          388,
+          389,
+          390,
+          391,
+          392,
+          393,
+          394,
+          395,
+          396,
+          397,
+          398,
+          399,
+          400,
+          401,
+          402,
+          403,
+          404,
+          405,
+          406,
+          407,
+          408,
+          409,
+          410,
+          411,
+          412,
+          413,
+          414,
+          415,
+          416,
+          417,
+          418,
+          419,
+          420,
+          421,
+          422,
+          423,
+          424,
+          425,
+          426,
+          427,
+          428,
+          429,
+          430,
+          431,
+          432,
+          433,
+          434,
+          435,
+          436,
+          437,
+          438,
+          439,
+          440,
+          441,
+          442,
+          443,
+          444,
+          445,
+          446,
+          447,
+          448,
+          449,
+          450,
+          451,
+          452,
+          453,
+          454,
+          455,
+          456,
+          457,
+          458,
+          459,
+          460,
+          461,
+          462,
+          463,
+          464,
+          465,
+          466,
+          467,
+          468,
+          469,
+          470,
+          471,
+          472,
+          473,
+          474,
+          475,
+          476,
+          477,
+          478,
+          479,
+          480,
+          481,
+          482,
+          483,
+          484,
+          485,
+          486,
+          487,
+          488,
+          489,
+          490,
+          491,
+          492,
+          493,
+          494,
+          495,
+          496,
+          497,
+          498,
+          499,
+          500,
+          501,
+          502,
+          503,
+          504,
+          505,
+          506,
+          507,
+          508,
+          509,
+          510,
+          511,
+          512,
+          513,
+          514,
+          515,
+          516,
+          517,
+          518,
+          519,
+          520,
+          521,
+          522,
+          523,
+          524,
+          525,
+          526,
+          527,
+          528,
+          529,
+          530,
+          531,
+          532,
+          533,
+          534,
+          535,
+          536,
+          537,
+          538,
+          539,
+          540,
+          541,
+          542,
+          543,
+          544,
+          545,
+          546,
+          547,
+          548,
+          549,
+          550,
+          551,
+          552,
+          553,
+          554,
+          555,
+          556,
+          557,
+          558,
+          559,
+          560,
+          561,
+          562,
+          563,
+          564,
+          565,
+          566,
+          567,
+          568,
+          569,
+          570,
+          571,
+          572,
+          573,
+          574,
+          575,
+          576,
+          577,
+          578,
+          579,
+          580,
+          581,
+          582,
+          583,
+          584,
+          585,
+          586,
+          587,
+          588,
+          589,
+          590,
+          591,
+          592,
+          593,
+          594,
+          595,
+          596,
+          597,
+          598,
+          599,
+          600,
+          601,
+          602,
+          603,
+          604,
+          605,
+          606,
+          607,
+          608,
+          609,
+          610,
+          611,
+          612,
+          613,
+          614,
+          615,
+          616,
+          617,
+          618,
+          619,
+          620,
+          621,
+          622,
+          623,
+          624,
+          625,
+          626,
+          627,
+          628,
+          629,
+          630,
+          631,
+          632,
+          633,
+          634,
+          635,
+          636,
+          637,
+          638,
+          639,
+          640,
+          641,
+          642,
+          643,
+          644,
+          645,
+          646,
+          647,
+          648,
+          649,
+          650,
+          651,
+          652,
+          653,
+          654,
+          655,
+          656,
+          657,
+          658,
+          659,
+          660
+        ],
+        "stream_id": "zed_17736741_zed_m_sn17736741_left_rgb",
+        "timestamp_max_ns": 1775059227932139000,
+        "timestamp_min_ns": 1775059183721024000,
+        "warnings": [
+          "no_sidecar"
+        ]
+      },
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1775059227932139000,
+      "timestamp_min_ns": 1775059183721024000,
+      "warnings": []
+    },
+    "zed_17736741_zed_m_sn17736741_right_rgb": {
+      "clock_diagnostics": {
+        "duplicate_acquisition_timestamp_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67367000,
+        "median_gap_ns": 66988000.0,
+        "non_monotonic_acquisition_timestamp_count": 0
+      },
+      "decoded_frame_count": 661,
+      "decoded_validation": "passed",
+      "frames_table_count": 661,
+      "non_monotonic_sync_timestamp_count": 0,
+      "raw_stream_summary": {
+        "duplicate_timestamp_count": 0,
+        "frame_counter_gap_count": 0,
+        "host_acquisition_drift_slope_ns_per_ns": null,
+        "host_acquisition_drift_slope_ns_per_s": null,
+        "host_acquisition_drift_slope_units": "ns offset drift per second of host time",
+        "host_acquisition_offset_max_ns": null,
+        "host_acquisition_offset_median_ns": null,
+        "host_acquisition_offset_min_ns": null,
+        "large_gap_count": 0,
+        "max_gap_ns": 67367000,
+        "median_gap_ns": 66988000.0,
+        "modality": "right_rgb",
+        "non_monotonic_timestamp_count": 0,
+        "sensor_type": "zed",
+        "session_id": "session_20260401_115938",
+        "sidecar_join_status": "no_sidecar",
+        "sidecar_match_rate": 0.0,
+        "source_file": "recordings/20260401_115938/ZED-M_SN17736741.svo2",
+        "source_frame_count": 661,
+        "source_frame_ids": [
+          0,
+          1,
+          2,
+          3,
+          4,
+          5,
+          6,
+          7,
+          8,
+          9,
+          10,
+          11,
+          12,
+          13,
+          14,
+          15,
+          16,
+          17,
+          18,
+          19,
+          20,
+          21,
+          22,
+          23,
+          24,
+          25,
+          26,
+          27,
+          28,
+          29,
+          30,
+          31,
+          32,
+          33,
+          34,
+          35,
+          36,
+          37,
+          38,
+          39,
+          40,
+          41,
+          42,
+          43,
+          44,
+          45,
+          46,
+          47,
+          48,
+          49,
+          50,
+          51,
+          52,
+          53,
+          54,
+          55,
+          56,
+          57,
+          58,
+          59,
+          60,
+          61,
+          62,
+          63,
+          64,
+          65,
+          66,
+          67,
+          68,
+          69,
+          70,
+          71,
+          72,
+          73,
+          74,
+          75,
+          76,
+          77,
+          78,
+          79,
+          80,
+          81,
+          82,
+          83,
+          84,
+          85,
+          86,
+          87,
+          88,
+          89,
+          90,
+          91,
+          92,
+          93,
+          94,
+          95,
+          96,
+          97,
+          98,
+          99,
+          100,
+          101,
+          102,
+          103,
+          104,
+          105,
+          106,
+          107,
+          108,
+          109,
+          110,
+          111,
+          112,
+          113,
+          114,
+          115,
+          116,
+          117,
+          118,
+          119,
+          120,
+          121,
+          122,
+          123,
+          124,
+          125,
+          126,
+          127,
+          128,
+          129,
+          130,
+          131,
+          132,
+          133,
+          134,
+          135,
+          136,
+          137,
+          138,
+          139,
+          140,
+          141,
+          142,
+          143,
+          144,
+          145,
+          146,
+          147,
+          148,
+          149,
+          150,
+          151,
+          152,
+          153,
+          154,
+          155,
+          156,
+          157,
+          158,
+          159,
+          160,
+          161,
+          162,
+          163,
+          164,
+          165,
+          166,
+          167,
+          168,
+          169,
+          170,
+          171,
+          172,
+          173,
+          174,
+          175,
+          176,
+          177,
+          178,
+          179,
+          180,
+          181,
+          182,
+          183,
+          184,
+          185,
+          186,
+          187,
+          188,
+          189,
+          190,
+          191,
+          192,
+          193,
+          194,
+          195,
+          196,
+          197,
+          198,
+          199,
+          200,
+          201,
+          202,
+          203,
+          204,
+          205,
+          206,
+          207,
+          208,
+          209,
+          210,
+          211,
+          212,
+          213,
+          214,
+          215,
+          216,
+          217,
+          218,
+          219,
+          220,
+          221,
+          222,
+          223,
+          224,
+          225,
+          226,
+          227,
+          228,
+          229,
+          230,
+          231,
+          232,
+          233,
+          234,
+          235,
+          236,
+          237,
+          238,
+          239,
+          240,
+          241,
+          242,
+          243,
+          244,
+          245,
+          246,
+          247,
+          248,
+          249,
+          250,
+          251,
+          252,
+          253,
+          254,
+          255,
+          256,
+          257,
+          258,
+          259,
+          260,
+          261,
+          262,
+          263,
+          264,
+          265,
+          266,
+          267,
+          268,
+          269,
+          270,
+          271,
+          272,
+          273,
+          274,
+          275,
+          276,
+          277,
+          278,
+          279,
+          280,
+          281,
+          282,
+          283,
+          284,
+          285,
+          286,
+          287,
+          288,
+          289,
+          290,
+          291,
+          292,
+          293,
+          294,
+          295,
+          296,
+          297,
+          298,
+          299,
+          300,
+          301,
+          302,
+          303,
+          304,
+          305,
+          306,
+          307,
+          308,
+          309,
+          310,
+          311,
+          312,
+          313,
+          314,
+          315,
+          316,
+          317,
+          318,
+          319,
+          320,
+          321,
+          322,
+          323,
+          324,
+          325,
+          326,
+          327,
+          328,
+          329,
+          330,
+          331,
+          332,
+          333,
+          334,
+          335,
+          336,
+          337,
+          338,
+          339,
+          340,
+          341,
+          342,
+          343,
+          344,
+          345,
+          346,
+          347,
+          348,
+          349,
+          350,
+          351,
+          352,
+          353,
+          354,
+          355,
+          356,
+          357,
+          358,
+          359,
+          360,
+          361,
+          362,
+          363,
+          364,
+          365,
+          366,
+          367,
+          368,
+          369,
+          370,
+          371,
+          372,
+          373,
+          374,
+          375,
+          376,
+          377,
+          378,
+          379,
+          380,
+          381,
+          382,
+          383,
+          384,
+          385,
+          386,
+          387,
+          388,
+          389,
+          390,
+          391,
+          392,
+          393,
+          394,
+          395,
+          396,
+          397,
+          398,
+          399,
+          400,
+          401,
+          402,
+          403,
+          404,
+          405,
+          406,
+          407,
+          408,
+          409,
+          410,
+          411,
+          412,
+          413,
+          414,
+          415,
+          416,
+          417,
+          418,
+          419,
+          420,
+          421,
+          422,
+          423,
+          424,
+          425,
+          426,
+          427,
+          428,
+          429,
+          430,
+          431,
+          432,
+          433,
+          434,
+          435,
+          436,
+          437,
+          438,
+          439,
+          440,
+          441,
+          442,
+          443,
+          444,
+          445,
+          446,
+          447,
+          448,
+          449,
+          450,
+          451,
+          452,
+          453,
+          454,
+          455,
+          456,
+          457,
+          458,
+          459,
+          460,
+          461,
+          462,
+          463,
+          464,
+          465,
+          466,
+          467,
+          468,
+          469,
+          470,
+          471,
+          472,
+          473,
+          474,
+          475,
+          476,
+          477,
+          478,
+          479,
+          480,
+          481,
+          482,
+          483,
+          484,
+          485,
+          486,
+          487,
+          488,
+          489,
+          490,
+          491,
+          492,
+          493,
+          494,
+          495,
+          496,
+          497,
+          498,
+          499,
+          500,
+          501,
+          502,
+          503,
+          504,
+          505,
+          506,
+          507,
+          508,
+          509,
+          510,
+          511,
+          512,
+          513,
+          514,
+          515,
+          516,
+          517,
+          518,
+          519,
+          520,
+          521,
+          522,
+          523,
+          524,
+          525,
+          526,
+          527,
+          528,
+          529,
+          530,
+          531,
+          532,
+          533,
+          534,
+          535,
+          536,
+          537,
+          538,
+          539,
+          540,
+          541,
+          542,
+          543,
+          544,
+          545,
+          546,
+          547,
+          548,
+          549,
+          550,
+          551,
+          552,
+          553,
+          554,
+          555,
+          556,
+          557,
+          558,
+          559,
+          560,
+          561,
+          562,
+          563,
+          564,
+          565,
+          566,
+          567,
+          568,
+          569,
+          570,
+          571,
+          572,
+          573,
+          574,
+          575,
+          576,
+          577,
+          578,
+          579,
+          580,
+          581,
+          582,
+          583,
+          584,
+          585,
+          586,
+          587,
+          588,
+          589,
+          590,
+          591,
+          592,
+          593,
+          594,
+          595,
+          596,
+          597,
+          598,
+          599,
+          600,
+          601,
+          602,
+          603,
+          604,
+          605,
+          606,
+          607,
+          608,
+          609,
+          610,
+          611,
+          612,
+          613,
+          614,
+          615,
+          616,
+          617,
+          618,
+          619,
+          620,
+          621,
+          622,
+          623,
+          624,
+          625,
+          626,
+          627,
+          628,
+          629,
+          630,
+          631,
+          632,
+          633,
+          634,
+          635,
+          636,
+          637,
+          638,
+          639,
+          640,
+          641,
+          642,
+          643,
+          644,
+          645,
+          646,
+          647,
+          648,
+          649,
+          650,
+          651,
+          652,
+          653,
+          654,
+          655,
+          656,
+          657,
+          658,
+          659,
+          660
+        ],
+        "stream_id": "zed_17736741_zed_m_sn17736741_right_rgb",
+        "timestamp_max_ns": 1775059227932139000,
+        "timestamp_min_ns": 1775059183721024000,
+        "warnings": [
+          "no_sidecar"
+        ]
+      },
+      "source_frame_hash_algo": "sha256",
+      "timestamp_max_ns": 1775059227932139000,
+      "timestamp_min_ns": 1775059183721024000,
+      "warnings": []
+    }
+  },
+  "warnings": []
+}

sessions/session_20260401_115938/metadata/videos.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:417c741bbec94edbffffd311cea9362cb50abfca20dfbd7243ccd18ddadc9c53
+size 9706

sessions/session_20260401_115938/tables/events.parquet

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

sessions/session_20260401_115938/tables/frames.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:331743202753ba3bac620c20263ccca6f11fe308b9d8da74c8a81d626bea6a66
+size 657071

sessions/session_20260401_115938/tables/robot_states.parquet

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

sessions/session_20260401_115938/videos/zed_12540311_zed_m_sn12540311_depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1c59b3f8963a63ff81ab1cb2ebe9bbcc3849bbd63831fae42b587f80e64b70e
+size 5366955660

sessions/session_20260401_115938/videos/zed_12540311_zed_m_sn12540311_left_rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:653801304e58b2e571edf86b495ac2b0a8b4dccd39fabd0071fd558f31fdd83d
+size 1288026363

sessions/session_20260401_115938/videos/zed_12540311_zed_m_sn12540311_right_rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2de5e005cfba8be5bce5f605f75a6c14077e74c353ab74b28d49ead183db80ee
+size 1251375225

sessions/session_20260401_115938/videos/zed_17736741_zed_m_sn17736741_depth.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f00281b7f6c8448523b01dae60e873694bc74b869981a0f4cd44d115f4b7a64
+size 5197511948

sessions/session_20260401_115938/videos/zed_17736741_zed_m_sn17736741_left_rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3a6ab67acb48bbd16f88d1a091e5acd47bd215098f9a499c3a1dddaebc24045
+size 1289679610

sessions/session_20260401_115938/videos/zed_17736741_zed_m_sn17736741_right_rgb.mkv

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464bb32aa1c5c455d49d9f6355912e23b8e98157470650cd92376f56f90edaa5
+size 1330427035