From ba7308850cbcb268c1e03665bfd6b19ec8fdb8d7 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 09:57:39 -0800
Subject: [PATCH 01/54] egocap: detect a step of this PC's clock during a
 LiveKit take

UnixClockMap keeps the bracket uncertainty of its pair and flags a change in
the offset between measurements that exceeds the larger of 5 ms and four times
that uncertainty. The recording feed then fails the take instead of recording
frames with a guessed mapping; frames already mapped are never remapped.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md            | 181 +++++++++++++-----
 .../backend/egocap_web/livekit_recording.py   |  32 +++-
 2 files changed, 162 insertions(+), 51 deletions(-)

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index 30952ee889..c0db8fea9f 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -4,85 +4,174 @@ SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserve
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# LiveKit camera preview and recording
+# Live camera video over LiveKit
 
-Camera video can reach the PC through a LiveKit room instead of through CaptureServer. CaptureServer only
-says where the video is; the browser (preview) and the backend (recording) each join the room themselves.
-The publisher is the Orin's sender, or `tools/livekit_orin_emulator.py` when no Orin is available.
+The camera host (an Orin running the SENSING publisher) publishes hardware-encoded H.264 into a LiveKit room.
+CaptureServer says where that video is: it lists the room's cameras in the session's existing `streams` list, next to
+its other cameras, from a small file you give it. The egocap backend passes the list on and issues viewer
+tokens; the browser then connects to LiveKit itself to receive the video. No video passes through CaptureServer or
+the backend, and CaptureServer never joins the room.
 
 Recording LiveKit video and running the emulator need the optional `livekit` package: `uv sync --extra livekit`
 (included in `--extra dev`). Without it the backend still starts and the browser preview works, but the Record
 button is blocked for LiveKit streams with a message naming the extra.
 
-Run every command from `examples/egocap`.
-
-## 1. Describe the streams
+```text
+Orin: SIPL -> hardware H.264 -> LiveKit publisher --> LiveKit server --> browser <video>
+PC:   CaptureServer (--livekit-streams: where the streams are) -> egocap backend (list + viewer token)
+```
 
-Write a YAML file naming the room, the publisher's identity and one entry per published track. The field
-reference is in [`capture_server/README.md`](capture_server/README.md#the---livekit-streams-file).
+**Recording.** A LiveKit stream is saved with a take only when its entry gives `width`, `height` and `fps` and
+declares `timestamp_basis: capture_unix_us`, meaning the publisher stamps each frame with the mapped capture time of
+the sensor event. If any offered stream does not qualify, recording is refused with that stream's name (remove it
+from the streams file, or make it recordable); preview is unaffected. The native Orin sender stamps
+`processing_unix_us` (host time after capture and conversion), so with it recording is refused until the sensor's
+capture time is mapped. The recorder joins the room itself (it needs the same `LIVEKIT_API_KEY` and
+`LIVEKIT_API_SECRET`) and checks each stream's first frame against the configured size before a take starts. The
+recorder converts the publisher's Unix time to this machine's monotonic clock and applies one coarse check: a frame
+that is more than 2 s old on arrival, or stamped in the future, ends the take. That catches gross clock disagreement
+only; it does not prove the two machines' clocks agree to milliseconds. A step of this PC's own clock during a take is
+detected (the take then fails); a step on the Orin is not. Alignment
+with tracking also assumes the backend and CaptureServer share one machine's clock. A take that passes is not
+thereby proven aligned.
+
+**What recording from the real Orin still needs.** The native sender must publish `capture_unix_us`, the Unix time
+of the sensor's capture event. Its only capture-event clock is the SIPL frame capture counter (`frameCaptureTSC`),
+which NVIDIA's public SIPL documentation describes as raw ARM generic-timer ticks, not nanoseconds (the sender carries it
+as `capture_tsc`, an unscaled value). The deployed Orin's SIPL headers are not available
+here, so nothing about its units or event is verified. The evidence required, from a supported platform API and
+not from fitting measurements:
+
+1. The counter's definition, units and event (which instant of the frame it marks) from the SIPL image-metadata
+   documentation of the deployed release, and the TSC's definition and rate in the L4T documentation of the
+   deployed JetPack. Record the exact header, SDK and L4T versions.
+2. A contemporaneous counter and host-clock reading from a supported API, so that a counter value can be placed on
+   `CLOCK_REALTIME` through one offset that is re-measured at a low rate, never per frame. Convert in the sender and
+   publish that time with the `capture_unix_us` basis, keeping the raw counter in the frame's user data.
+3. A time service between the Orin and the PC with the residual offset measured, and a physical event seen by both
+   the camera and a tracking device as the test of real alignment. The recorder's frame-age check only catches gross
+   disagreement.
+
+`SENSING_TSC_PROBE=1` prints the capture counter beside the host clocks twice a second, off by default, as separate
+uncalibrated samples. The counter's units are unconfirmed, so they must not be subtracted, fitted or used as a mapping.
+
+**Exercised once on an Orin.** The author ran the publisher on an AGX Orin with two SHW5G cameras (2560x1984, 30 fps,
+H.264) into a LiveKit server on the Orin, and a PC browser showed the video. Over the run each track published about
+2,100 frames with none replaced and one capture missed on one sensor. This was a single short run on dev keys and plain
+`ws://`, not a qualification. Still unmeasured or unverified: end-to-end latency, behaviour when the encoder drops a
+frame, and real sensor-to-tracking alignment. Recording from the real Orin stays refused.
+
+## 1. LiveKit server (on the PC or the LAN)
+
+Run a LiveKit server reachable from both the Orin and the browser, and note its API key and secret. For a quick local
+server, `livekit-server --dev --bind 0.0.0.0` uses the development key pair printed at start-up. Browsers need a
+secure context for WebRTC on anything but `localhost`, so use a `wss://` URL with a certificate the browser trusts
+when the browser is not on the server's own machine. Open the server's signalling and media ports between the machines.
+
+## 2. Tell CaptureServer where the streams are
+
+Write a file naming the room and its tracks (this is all CaptureServer needs; it never connects to LiveKit):
 
 ```yaml
 livekit:
-  url: wss://LIVEKIT_HOST
+  url: wss://LIVEKIT_HOST          # what consumers connect to
   room: sensing-preview
-  publisher: orin-sensing
-  timestamp_basis: capture_unix_us
-  streams:
-    - {name: Head left, track: sensing-left, width: 1280, height: 720, fps: 30}
+  publisher: orin-sensing          # the publisher's participant identity
+  streams:                         # up to eight
+    - {name: Head left, track: sensing-left, width: 2560, height: 1984, fps: 30}
+    - {name: Head right, track: sensing-right}
 ```
 
-- `track` must equal the name the publisher gives the track (the emulator's `livekit=NAME`).
-- `publisher` must equal the identity in the publisher's join token.
-- Preview works with any `timestamp_basis`. Recording needs `capture_unix_us` and `width`, `height` and
-  `fps`; recording is refused while any offered stream lacks them.
+`width`, `height` and `fps` are optional and only describe what to expect; leave them out when unknown. Start
+CaptureServer with `--livekit-streams FILE` in addition to its usual options. The entries reach the backend in the
+session start message, so they appear once the backend's capture session has started. Offering a stream does not mean
+frames are arriving.
+
+## 3. Backend credentials
 
-Start CaptureServer with the file (add `--mock` for synthetic tracking):
+The backend signs viewer tokens with the server's key pair, read from its environment only:
 
 ```bash
-uv run capture-server --mock --livekit-streams livekit.yaml
+export LIVEKIT_API_KEY=...      # the LiveKit server's API key
+export LIVEKIT_API_SECRET=...   # its secret
 ```
 
-## 2. Create the publisher's join token
+`GET /api/livekit-token?room=ROOM` returns a token that can join that room and subscribe, nothing more. It answers 404
+for a room the session does not offer and 503 when the key pair is not set. Like the camera preview routes it is open
+to anyone who can reach the backend, so keep the backend on a trusted network. Missing credentials stop the video but
+the stream list is still shown.
 
-The publisher joins with a token for the room and identity from the file, with publish permission. With the
-LiveKit CLI (`lk`), using the key pair of the LiveKit server:
+## 4. Orin publisher
+
+Create a token file for the publisher: a LiveKit token for this room, with identity equal to `publisher` above,
+allowed to publish (for example with LiveKit's `lk token create`; see its `--help`). Then add the LiveKit options to
+the usual `camera_plugin_sensing` invocation, keeping the rig's own platform and configuration arguments:
 
 ```bash
-lk token create --api-key "$LIVEKIT_API_KEY" --api-secret "$LIVEKIT_API_SECRET" \
-  --join --room sensing-preview --identity orin-sensing --valid-for 24h > orin-token.txt
+camera_plugin_sensing ... \
+  --livekit-url=wss://LIVEKIT_HOST --livekit-token-file=join.token \
+  --add-stream=sensor=0,livekit=sensing-left \
+  --add-stream=sensor=1,livekit=sensing-right
 ```
 
-The CLI flags are not exercised by this repository's tests; check `lk token create --help` for your version.
-The token file holds only the token. Keep it private.
+The `livekit=` names must equal the file's `track` values. Start the publisher by hand; closing the browser
+disconnects only that viewer, and the Orin keeps capturing until you stop it.
+
+## 5. Expected result and troubleshooting
 
-## 3. Run the emulator (no Orin)
+Opening egocap shows the named tiles next to the tracking view. A tile reads "Waiting for camera" until its track is
+published, "No video frames" if a published track stops producing frames, and "Disconnected" while the room
+connection is down; the page reconnects on its own.
 
-`tools/livekit_orin_emulator.py` joins the room and publishes one test-pattern track per `--add-stream`.
+| Symptom | Check |
+| --- | --- |
+| No tiles at all | CaptureServer was started with `--livekit-streams`, and the backend's capture session has started. |
+| "LiveKit preview unavailable: ... must be set" | `LIVEKIT_API_KEY` and `LIVEKIT_API_SECRET` in the backend's environment. |
+| Tiles never leave "Connecting" | The `url` is reachable from the browser; `wss://` certificate trusted; signalling and media ports open. |
+| Connected, tile stays "Waiting for camera" | The publisher's token room and identity match `room` and `publisher`; `livekit=` names match `track`. |
+| "Waiting for video" or black picture | The browser may not support the encoder's H.264 profile; check the browser console. |
+
+## 5. No Orin: the emulator
+
+`tools/livekit_orin_emulator.py` publishes test-pattern tracks with the same per-frame metadata (`user_timestamp`,
+`frame_id`, 8-byte little-endian capture counter) in place of the Orin. It uses the SDK's software encoder, so it
+exercises the PC side and the metadata contract but not the Jetson hardware encoder, its H.264 profile or the real
+sender's pacing.
 
 ```bash
 uv run python tools/livekit_orin_emulator.py \
-  --livekit-url wss://LIVEKIT_HOST \
-  --livekit-token-file orin-token.txt \
-  --add-stream sensor=0,livekit=sensing-left \
-  --width 1280 --height 720 --fps 30
+  --livekit-url=wss://LIVEKIT_HOST --livekit-token-file=join.token \
+  --add-stream=sensor=0,livekit=sensing-left --add-stream=sensor=1,livekit=sensing-right \
+  --width=1280 --height=720 --fps=30 --timestamp-basis=capture_unix_us
 ```
 
-`--add-stream sensor=N,livekit=NAME` is repeatable. `--timestamp-basis` takes `capture_unix_us` (default),
-`processing_unix_us` or `monotonic_us`; set the same value in the streams file. Frames go through a software
-encoder, so this checks the PC side and the metadata, not the Jetson encoder.
+`--timestamp-basis=processing_unix_us` declares what the current native sender sends: processing time, which is not
+a capture time and is not recorded. `capture_unix_us` (the default) is honest here because the emulator is the
+camera: it stamps the frame when it generates it. `monotonic_us` sends the publisher's monotonic clock, also not
+recordable.
 
-## 4. Preview and record on the PC
+## 6. The whole stack on one machine, with the emulator
 
-Give the backend the LiveKit server's key pair, then start it as in the root [`README.md`](README.md):
+This runs everything except the Orin on one machine, against a local LiveKit server in development mode (key
+`devkey`, secret `secret`). Each command runs in its own terminal, from `examples/egocap/`.
 
 ```bash
-export LIVEKIT_API_KEY=... LIVEKIT_API_SECRET=...
-uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
+livekit-server --dev --bind 127.0.0.1                    # signalling on ws://127.0.0.1:7880
+
+# pub.token: a token for room sensing-preview, identity orin-sensing, allowed to publish (lk token create, or any
+# LiveKit token tool, signed with devkey/secret)
+uv run python tools/livekit_orin_emulator.py --livekit-url=ws://127.0.0.1:7880 --livekit-token-file=pub.token \
+  --add-stream=sensor=0,livekit=sensing-left --add-stream=sensor=1,livekit=sensing-right \
+  --width=640 --height=480 --fps=15 --timestamp-basis=capture_unix_us
+
+uv run capture-server --mock --livekit-streams streams.yaml
+LIVEKIT_API_KEY=devkey LIVEKIT_API_SECRET=secret uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
 ```
 
-- The browser asks `GET /api/livekit-token` for a subscribe-only token, only for a room the current session
-  offers, and shows the stream in the camera grid. Without the key pair the backend answers 503 and the page
-  reports the preview as unavailable.
-- Recording joins the room with its own subscribe-only token signed with the same key pair. It starts only
-  when every offered stream is recordable (see step 1) and stops with a reason if a frame cannot be recorded
-  honestly. The backend must run on the machine whose clock CaptureServer reports.
+`streams.yaml` names the room, the publisher and both tracks, with `width: 640`, `height: 480`, `fps: 15` and
+`timestamp_basis: capture_unix_us` (section 2). Open `http://127.0.0.1:8000/`: both tiles show live video, and
+Record saves a take with the two cameras next to the mock tracking. A take recorded this way came out KEPT, with 91
+frames per camera over 6 s at the configured size and rate and increasing capture times.
+
+This exercises the PC side only. It does not test the Jetson encoder, the sender's pacing, or clock agreement
+between two machines.
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 7aae0a79b5..309576dedf 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -32,9 +32,13 @@
 
 logger = logging.getLogger("isaaccapture.egocap.livekit_recording")
 
-#: How long a measured pair of clock readings is reused. Unix and monotonic time only drift apart slowly; a step of
-#: the Unix clock is simply reflected in the offset at the next measurement, not detected.
+#: How long a measured pair of clock readings is reused. Unix and monotonic time only drift apart slowly (a slewing
+#: clock moves them well under a millisecond per second), so a larger change between two measurements is a step.
 _PAIR_MAX_AGE_S = 1.0
+#: An offset change below this is measurement noise or slew; above it, and above a few times the bracket's own
+#: uncertainty, the Unix clock stepped and the take's capture times can no longer be trusted.
+_STEP_FLOOR_S = 0.005
+_STEP_UNCERTAINTY_FACTOR = 4
 #: A frame older than this when it arrives, or stamped further than the lead below in the future, means the
 #: publisher's clock and this host's disagree grossly. This catches gross disagreement only, not millisecond error.
 _MAX_FRAME_AGE_S = 2.0
@@ -53,10 +57,15 @@ class UnixClockMap:
     """Converts Unix-time microseconds to this process's monotonic seconds, from a recently measured pair.
 
     The pair is two clock readings taken back to back and refreshed about once a second, from the consumer's
-    thread and never from an SDK callback. It converts on this machine only: it does not detect a step of the
-    Unix clock, and says nothing about whether the publisher's clock agrees with this one.
+    thread and never from an SDK callback. It converts on this machine only and says nothing about whether the
+    publisher's clock agrees with this one. It keeps the uncertainty of its pair (half the bracketing span) and
+    flags a step of the Unix clock between two measurements: `step_detected` stays set, because samples already
+    mapped are never remapped with a newer offset, and a map covers one take.
     """
 
+    step_detected = False
+    uncertainty_s: float | None = None
+
     def __init__(
         self,
         *,
@@ -87,7 +96,14 @@ def _measure(self) -> None:
                 # The Unix reading happened somewhere in [before, after]; its midpoint is the best estimate.
                 best = (span, ((before + after) / 2 - unix) / 1e9)
         assert best is not None
-        self._offset_s = best[1]
+        span_ns, offset_s = best
+        uncertainty_s = span_ns / 2e9
+        if self._measured_at_ns is not None:
+            bound_s = max(_STEP_FLOOR_S, _STEP_UNCERTAINTY_FACTOR * max(uncertainty_s, self.uncertainty_s or 0.0))
+            if abs(offset_s - self._offset_s) > bound_s:
+                self.step_detected = True
+        self._offset_s = offset_s
+        self.uncertainty_s = uncertainty_s
         self._measured_at_ns = self._monotonic_ns()
 
 
@@ -241,6 +257,12 @@ async def _run(self, stream_id: int) -> None:
                 self._fail(f"{stream.name}: a frame arrived without the publisher's capture timestamp")
                 return
             capture_time = self._clock_map.monotonic_seconds(frame.user_timestamp_us)
+            if self._clock_map.step_detected:
+                # Frames already recorded keep their mapping; none after the step is recorded with a guessed one.
+                self._fail(
+                    f"{stream.name}: this host's clock stepped during the take, so capture times are untrustworthy"
+                )
+                return
             receive_time = frame.receive_time_ns / 1e9
             age = receive_time - capture_time
             if not -_MAX_FRAME_LEAD_S <= age <= _MAX_FRAME_AGE_S:

From 8791f5f85581f358fca02c1084eff0072bda8ecf Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 09:58:59 -0800
Subject: [PATCH 02/54] egocap: tests for clock-step detection and the bracket
 uncertainty

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../tests/backend/test_livekit_recording.py   | 101 ++++++++++++++++++
 1 file changed, 101 insertions(+)

diff --git a/examples/egocap/tests/backend/test_livekit_recording.py b/examples/egocap/tests/backend/test_livekit_recording.py
index 0de00fed38..2c5860b661 100644
--- a/examples/egocap/tests/backend/test_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_livekit_recording.py
@@ -136,6 +136,72 @@ def unix() -> int:
     state["mono"] = 2_000_000_000
     # Unix now reads 1003 s at monotonic 2 s: unix 1000 s is 3 s before that, i.e. -1 s.
     assert mapper.monotonic_seconds(1_000_000_000) == pytest.approx(-1.0)
+    assert mapper.step_detected  # a 3 s change in offset is far beyond any bracket uncertainty
+
+
+class _SteppedClocks:
+    """Each monotonic read advances ``tick_ns``; the Unix clock is monotonic plus a settable offset."""
+
+    def __init__(self, tick_ns: int = 2_000_000) -> None:
+        self.mono = 0
+        self.tick_ns = tick_ns
+        self.unix_offset_ns = 1_000_000_000_000_000
+
+    def monotonic_ns(self) -> int:
+        self.mono += self.tick_ns
+        return self.mono
+
+    def unix_ns(self) -> int:
+        return self.mono + self.unix_offset_ns
+
+
+def _remeasure(mapper: UnixClockMap, clocks: _SteppedClocks) -> None:
+    clocks.mono += 1_500_000_000  # past the pair's maximum age
+    mapper.monotonic_seconds(0)
+
+
+def _stepped_map(clocks: _SteppedClocks) -> UnixClockMap:
+    return UnixClockMap(monotonic_ns=clocks.monotonic_ns, unix_ns=clocks.unix_ns)
+
+
+def test_uncertainty_is_half_the_bracket_span_and_a_stable_offset_is_never_a_step():
+    clocks = _SteppedClocks(tick_ns=2_000_000)  # before/after reads are 2 ms apart
+    mapper = _stepped_map(clocks)
+    assert mapper.uncertainty_s is None
+    for _ in range(6):
+        _remeasure(mapper, clocks)
+        assert mapper.uncertainty_s == pytest.approx(0.001)
+        assert not mapper.step_detected
+
+
+def test_slow_drift_is_not_a_step():
+    clocks = _SteppedClocks()
+    mapper = _stepped_map(clocks)
+    for _ in range(20):
+        clocks.unix_offset_ns += 300_000  # 0.3 ms per second of slew
+        _remeasure(mapper, clocks)
+    assert not mapper.step_detected
+
+
+def test_a_50_ms_step_between_measurements_is_detected_and_stays_set():
+    clocks = _SteppedClocks()
+    mapper = _stepped_map(clocks)
+    _remeasure(mapper, clocks)
+    clocks.unix_offset_ns += 50_000_000
+    _remeasure(mapper, clocks)
+    assert mapper.step_detected
+    for _ in range(3):  # later stable measurements do not clear it
+        _remeasure(mapper, clocks)
+    assert mapper.step_detected
+
+
+def test_a_step_under_5_ms_is_not_detected():
+    clocks = _SteppedClocks()
+    mapper = _stepped_map(clocks)
+    _remeasure(mapper, clocks)
+    clocks.unix_offset_ns += 4_000_000
+    _remeasure(mapper, clocks)
+    assert not mapper.step_detected
 
 
 def test_default_clocks_map_now_to_about_now():
@@ -224,6 +290,20 @@ def monotonic_seconds(self, unix_us: int) -> float:
         return unix_us / 1e6 + 10.0
 
 
+class StepAfterFirstMap(FixedMap):
+    """Reports a clock step from the second frame on."""
+
+    def __init__(self) -> None:
+        super().__init__()
+        self.calls = 0
+
+    def monotonic_seconds(self, unix_us: int) -> float:
+        self.calls += 1
+        if self.calls >= 2:
+            self.step_detected = True
+        return super().monotonic_seconds(unix_us)
+
+
 async def _settle(times: int = 10) -> None:
     for _ in range(times):
         await asyncio.sleep(0)
@@ -248,6 +328,27 @@ async def test_capture_stream_frames_are_offered_with_source_and_mapped_capture_
     assert feed.failure is None
 
 
+async def test_a_clock_step_fails_the_take_and_records_no_further_frames():
+    reasons: list[str] = []
+    frames = [_received(16, 1_000_000), _received(16, 2_000_000), _received(16, 3_000_000)]
+    ingress = FakeIngress()
+    feed = LiveKitRecordingFeed(
+        FakeReceiver({16: frames}),
+        [_stream(16, "Head left")],
+        ingress,
+        {16: "head_left"},
+        clock_map=StepAfterFirstMap(),
+        on_failure=reasons.append,
+    )
+    feed.start()
+    await _settle()
+    await feed.stop()
+    assert feed.failure is not None
+    assert "clock stepped" in feed.failure
+    assert reasons == [feed.failure]
+    assert [m.capture_time for m in ingress.offered] == [11.0]
+
+
 async def test_offered_sample_is_rgb8_with_the_frame_image_and_receive_time_in_seconds():
     frame = _received(16, 1_000_000, receive_ns=11_100_000_000)
     ingress = FakeIngress()

From b2b89b29f839f469aa7a92fb585d3d884a42624d Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:06:35 -0800
Subject: [PATCH 03/54] egocap: say the clock-step check is a heuristic with
 detection latency

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md                      | 5 ++++-
 examples/egocap/backend/egocap_web/livekit_recording.py | 5 +++--
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index c0db8fea9f..3c33568e28 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -31,7 +31,10 @@ capture time is mapped. The recorder joins the room itself (it needs the same `L
 recorder converts the publisher's Unix time to this machine's monotonic clock and applies one coarse check: a frame
 that is more than 2 s old on arrival, or stamped in the future, ends the take. That catches gross clock disagreement
 only; it does not prove the two machines' clocks agree to milliseconds. A step of this PC's own clock during a take is
-detected (the take then fails); a step on the Orin is not. Alignment
+detected at the next pair refresh (about a second later, and only if it exceeds the larger of 5 ms and four times
+the pair's bracket uncertainty), and the take then fails: frames mapped between the step and its detection, and any
+smaller offset change, are not caught, so the take's timing claim cannot be stronger than that. A step on the Orin is
+not detected. Alignment
 with tracking also assumes the backend and CaptureServer share one machine's clock. A take that passes is not
 thereby proven aligned.
 
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 309576dedf..48e17f0f1f 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -59,8 +59,9 @@ class UnixClockMap:
     The pair is two clock readings taken back to back and refreshed about once a second, from the consumer's
     thread and never from an SDK callback. It converts on this machine only and says nothing about whether the
     publisher's clock agrees with this one. It keeps the uncertainty of its pair (half the bracketing span) and
-    flags a step of the Unix clock between two measurements: `step_detected` stays set, because samples already
-    mapped are never remapped with a newer offset, and a map covers one take.
+    flags a discontinuity of the Unix clock between two measurements (a heuristic, not proof of a step or an accuracy
+    bound): `step_detected` stays set, because samples already mapped are never remapped with a newer offset, and a
+    map covers one take. Frames mapped between a step and its detection are already recorded with the old offset.
     """
 
     step_detected = False

From 922488ce3c07b4a31564198c81dc8c5039f08746 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:07:01 -0800
Subject: [PATCH 04/54] egocap: fix a line length in the clock-map docstring

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/backend/egocap_web/livekit_recording.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 48e17f0f1f..fd93f06b8b 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -59,8 +59,8 @@ class UnixClockMap:
     The pair is two clock readings taken back to back and refreshed about once a second, from the consumer's
     thread and never from an SDK callback. It converts on this machine only and says nothing about whether the
     publisher's clock agrees with this one. It keeps the uncertainty of its pair (half the bracketing span) and
-    flags a discontinuity of the Unix clock between two measurements (a heuristic, not proof of a step or an accuracy
-    bound): `step_detected` stays set, because samples already mapped are never remapped with a newer offset, and a
+    flags a discontinuity of the Unix clock between two measurements (a heuristic, not proof of a step or of an
+    accuracy bound): `step_detected` stays set, because samples already mapped are never remapped with a newer offset, and a
     map covers one take. Frames mapped between a step and its detection are already recorded with the old offset.
     """
 

From af1c83369d8edd7aa39d6eee39363473465f0578 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:07:20 -0800
Subject: [PATCH 05/54] egocap: wrap the clock-map docstring to the line limit

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/backend/egocap_web/livekit_recording.py | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index fd93f06b8b..6f8a4b5fd4 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -60,8 +60,9 @@ class UnixClockMap:
     thread and never from an SDK callback. It converts on this machine only and says nothing about whether the
     publisher's clock agrees with this one. It keeps the uncertainty of its pair (half the bracketing span) and
     flags a discontinuity of the Unix clock between two measurements (a heuristic, not proof of a step or of an
-    accuracy bound): `step_detected` stays set, because samples already mapped are never remapped with a newer offset, and a
-    map covers one take. Frames mapped between a step and its detection are already recorded with the old offset.
+    accuracy bound): `step_detected` stays set, because samples already mapped are never remapped with a newer
+    offset, and a map covers one take. Frames mapped between a step and its detection are already recorded with the
+    old offset.
     """
 
     step_detected = False

From cc295da1a7dc1dc08929c3ca787b6beb1c2f03b6 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:18:27 -0800
Subject: [PATCH 06/54] egocap: record the timestamp-alignment status and the
 source audit

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md | 49 +++++++++++++++++++
 1 file changed, 49 insertions(+)
 create mode 100644 examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md

diff --git a/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md b/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
new file mode 100644
index 0000000000..0a501439d0
--- /dev/null
+++ b/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
@@ -0,0 +1,49 @@
+<!--
+SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+SPDX-License-Identifier: Apache-2.0
+-->
+
+# Timestamp alignment: what is implemented, what the sources really stamp, what is open
+
+This tracks the repository-root `TimestampAlignment.md` plan against the code. Nothing here establishes
+synchronization: no required accuracy budget has been set, and no real-source alignment has been measured.
+
+## Implemented
+
+- **PC clock-map discontinuity check** (`backend/egocap_web/livekit_recording.py`, `UnixClockMap`): keeps the
+  bracket uncertainty of its realtime/monotonic pair and flags an offset change between two measurements larger than
+  the greater of 5 ms and four times that uncertainty. The recording feed then fails the take. This is a heuristic,
+  not proof of a step or an accuracy bound; frames mapped between a step and its detection (up to one refresh, about a
+  second) are already recorded, and smaller offset changes are not caught.
+- LiveKit frames keep the publisher's timestamp, frame id and raw capture counter separately; only a stream declaring a
+  sensor-capture basis is recorded; the native sender declares processing time and carries the counter unscaled.
+
+## What each source actually stamps (source audit, not hardware-verified)
+
+- **Controllers** (`src/core/live_trackers/cpp/live_controller_tracker_impl.cpp`): the update tick time
+  (`last_update_time_`, a host monotonic reading) is converted to an `XrTime`, poses are located at that time with
+  `xrLocateSpace`, and the `DeviceDataTimestamp` carries that update time as both availability and sample time with
+  the `XrTime` as the raw value. It is the pose evaluation time of a runtime-predicted pose, not a physical
+  measurement time.
+- **Manus gloves** (`src/plugins/manus/core/manus_hand_tracking_plugin.cpp`): the SDK stream's `publishTime` is read
+  into the skeleton info but is not used for the pushed sample. The sample is pushed with the host monotonic time at
+  push for both sample and availability, and the hand poses are located at the current `XrTime`. Skeleton freshness
+  uses host `steady_clock` at the callback (receipt). So glove sample time today is host processing time; the SDK
+  time exists and could be mapped if the SDK documents its clock and a host correlation.
+- **Camera (LiveKit)**: processing time on the Orin (conversion), not capture; see the plan for the SIPL/Argus
+  counters, whose units and host correlation are not verified.
+
+None of these is a qualified measurement time, so none can support a synchronized-recording claim yet.
+
+## Open
+
+- **Encoder association.** The Orin encoder does not return the submitted timestamp, so units are paired by
+  submission order, which shifts after an encoder-internal drop. Header search found
+  `V4L2_CID_MPEG_VIDEOENC_COPY_TIMESTAMP` (undocumented, unused elsewhere); whether it works on the driver is being
+  probed on the Orin. Until a verified mechanism exists, the honest options are to stop or flag the stream on loss.
+- **Persisting mapping epochs and quality with a take.** There is no per-take metadata slot: `config.yaml` is
+  frozen per session, and `EpisodeResult.issues` carries failures only. Proposed minimum, needing an owner's
+  decision: write the clock-map evidence (map epoch, offset, bracket uncertainty, step flag, timestamp basis per
+  source) once at stop into the episode's existing record, rather than a new file format.
+- **Orin-to-PC clock bridge**, sensor-time-to-host mapping, glove SDK time correlation, controller measurement
+  semantics, and the accuracy budget.

From bad4fc9aee8595c7af6e11ea27b3c38d336bd9de Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:31:39 -0800
Subject: [PATCH 07/54] egocap emulator: model an Orin clock (offset, drift,
 capture-to-publish delay), shared by all tracks

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../egocap/tools/livekit_orin_emulator.py     | 70 ++++++++++++++++++-
 1 file changed, 67 insertions(+), 3 deletions(-)

diff --git a/examples/egocap/tools/livekit_orin_emulator.py b/examples/egocap/tools/livekit_orin_emulator.py
index 3381d90c8b..73629c0f61 100644
--- a/examples/egocap/tools/livekit_orin_emulator.py
+++ b/examples/egocap/tools/livekit_orin_emulator.py
@@ -88,6 +88,26 @@ def build_parser() -> argparse.ArgumentParser:
         help="what user_timestamp carries: this host's Unix time at frame generation, which for synthetic frames "
         "is their capture time (recordable); the same reading declared as processing time; or monotonic time",
     )
+    parser.add_argument(
+        "--clock-offset-ms",
+        type=float,
+        default=0.0,
+        help="emulate an Orin whose Unix clock reads this many milliseconds ahead of this host's (negative: "
+        "behind); applies to the Unix bases, since monotonic clocks of two machines are unrelated",
+    )
+    parser.add_argument(
+        "--clock-drift-ppm",
+        type=float,
+        default=0.0,
+        help="the emulated Orin clock gains this many microseconds per second of run time (Unix bases only)",
+    )
+    parser.add_argument(
+        "--pipeline-delay-ms",
+        type=float,
+        default=0.0,
+        help="a capture-basis stamp names the capture event, which happened this many milliseconds before the "
+        "frame is published (exposure, readout, ISP and encode); the processing basis is unaffected",
+    )
     return parser
 
 
@@ -121,6 +141,39 @@ def user_timestamp_us(basis: str) -> int:
     return ns // 1000
 
 
+@dataclass(frozen=True)
+class ClockModel:
+    """How the emulated Orin's stamps differ from this host's clock: an offset, a slow drift, and the delay between
+    a capture event and its publication. All zero reproduces this host's own readings."""
+
+    offset_us: int = 0
+    drift_ppm: float = 0.0
+    pipeline_delay_us: int = 0
+    started_ns: int = 0
+    #: The run-time clock the drift is measured on; injectable so a test can step it deterministically.
+    monotonic_ns: Callable[[], int] = time.monotonic_ns
+
+    @classmethod
+    def from_args(
+        cls, args: argparse.Namespace, monotonic_ns: Callable[[], int] = time.monotonic_ns
+    ) -> ClockModel:
+        return cls(
+            offset_us=round(args.clock_offset_ms * 1000),
+            drift_ppm=args.clock_drift_ppm,
+            pipeline_delay_us=round(args.pipeline_delay_ms * 1000),
+            started_ns=monotonic_ns(),
+            monotonic_ns=monotonic_ns,
+        )
+
+    def adjustment_us(self, basis: str, *, at_capture: bool) -> int:
+        """Microseconds to add to this host's reading of ``basis`` to get the emulated Orin's stamp."""
+        if basis == "monotonic_us":
+            return 0
+        drift_us = (self.monotonic_ns() - self.started_ns) / 1e9 * self.drift_ppm
+        delay_us = self.pipeline_delay_us if at_capture else 0
+        return round(self.offset_us + drift_us - delay_us)
+
+
 def build_metadata(frame_id: int, capture_counter_ns: int, timestamp_us: int) -> rtc.FrameMetadata:
     """Builds the per-frame metadata exactly as the native sender does.
 
@@ -175,13 +228,16 @@ async def publish_stream(
     stop: asyncio.Event,
     counters: Counters,
     capture_clock: Callable[[], int] = time.monotonic_ns,
+    clock: ClockModel | None = None,
 ) -> None:
     """Sends frames for one track at ``--fps`` until ``stop`` is set.
 
     Deadlines are start + n*period rather than sleep(period), so encode time and loop jitter do not accumulate
     into drift. After a stall longer than a period the schedule restarts from now instead of bursting to catch up.
+    ``clock`` is the emulated Orin's clock, shared by every track of one publisher so their stamps drift together.
     """
     period = 1.0 / args.fps
+    clock = clock or ClockModel.from_args(args)
     loop = asyncio.get_running_loop()
     deadline = loop.time()
     frame_id = 0
@@ -191,11 +247,17 @@ async def publish_stream(
         # capture; a processing-time stamp is taken once the frame is ready, as the real sender's is.
         capture_ns = capture_clock()
         at_capture = args.timestamp_basis != "processing_unix_us"
-        timestamp_us = user_timestamp_us(args.timestamp_basis) if at_capture else 0
+        timestamp_us = (
+            user_timestamp_us(args.timestamp_basis) + clock.adjustment_us(args.timestamp_basis, at_capture=True)
+            if at_capture
+            else 0
+        )
         pixels = make_pattern(args.width, args.height, spec.sensor, frame_id)
         frame = rtc.VideoFrame(args.width, args.height, rtc.VideoBufferType.RGBA, pixels.tobytes())
         if not at_capture:
-            timestamp_us = user_timestamp_us(args.timestamp_basis)
+            timestamp_us = user_timestamp_us(args.timestamp_basis) + clock.adjustment_us(
+                args.timestamp_basis, at_capture=False
+            )
         source.capture_frame(
             frame,
             timestamp_us=timestamp_us,
@@ -230,6 +292,8 @@ async def run(args: argparse.Namespace, stop: asyncio.Event) -> None:
     publications = []
     tasks: list[asyncio.Task] = []
     try:
+        # One emulated Orin clock for every track, so their stamps share one offset and drift origin.
+        clock = ClockModel.from_args(args)
         # One source and one published track per stream, named as the PC side expects.
         for spec in args.streams:
             source = rtc.VideoSource(args.width, args.height)
@@ -245,7 +309,7 @@ async def run(args: argparse.Namespace, stop: asyncio.Event) -> None:
                 ],
             )
             publications.append(await room.local_participant.publish_track(track, options))
-            tasks.append(asyncio.create_task(publish_stream(source, spec, args, stop, counters)))
+            tasks.append(asyncio.create_task(publish_stream(source, spec, args, stop, counters, clock=clock)))
         tasks.append(asyncio.create_task(report_stats(stop, counters)))
         # A failed task would otherwise be noticed only at shutdown; stop everything as soon as one ends.
         for task in tasks:

From 29c70361ae78eda7f707c045e64c358fb0153936 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:33:46 -0800
Subject: [PATCH 08/54] egocap: deterministic tests for the emulator's clock
 model and a synthetic camera/tracking timeline

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../tests/backend/test_synthetic_timeline.py  | 160 ++++++++++++++++++
 .../tests/tools/test_livekit_orin_emulator.py |  78 +++++++++
 2 files changed, 238 insertions(+)
 create mode 100644 examples/egocap/tests/backend/test_synthetic_timeline.py

diff --git a/examples/egocap/tests/backend/test_synthetic_timeline.py b/examples/egocap/tests/backend/test_synthetic_timeline.py
new file mode 100644
index 0000000000..b89fe7e15a
--- /dev/null
+++ b/examples/egocap/tests/backend/test_synthetic_timeline.py
@@ -0,0 +1,160 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""A synthetic event timeline through the real LiveKitRecordingFeed: what stamping error survives recording."""
+
+from __future__ import annotations
+
+import asyncio
+
+import numpy as np
+import pytest
+
+from capture_server import protocol as p
+from egocap_web.livekit_receiver import ReceivedFrame
+from egocap_web.livekit_recording import LiveKitRecordingFeed, UnixClockMap
+
+#: Truth event times in this PC's monotonic seconds; tracking samples carry these directly.
+TRUTH_S = [100.0, 100.033, 100.066, 100.1, 100.133]
+#: Fixed gap between the PC's Unix and monotonic clocks.
+UNIX_MINUS_MONO_S = 1_700_000_000.0
+MICROSECOND = 1e-6
+
+
+class PcClocks:
+    """This PC's clocks: monotonic is settable, Unix is monotonic plus a settable gap; reads are instantaneous."""
+
+    def __init__(self) -> None:
+        self.mono_ns = int(TRUTH_S[0] * 1e9)
+        self.gap_ns = int(UNIX_MINUS_MONO_S * 1e9)
+
+    def monotonic_ns(self) -> int:
+        return self.mono_ns
+
+    def unix_ns(self) -> int:
+        return self.mono_ns + self.gap_ns
+
+    def clock_map(self) -> UnixClockMap:
+        return UnixClockMap(monotonic_ns=self.monotonic_ns, unix_ns=self.unix_ns)
+
+
+def stamp_us(truth_s: float, offset_us: int = 0, drift_us: float = 0.0) -> int:
+    """The emulator's capture-basis stamp: truth Unix time plus offset and drift (no pipeline delay)."""
+    return round(truth_s * 1e6 + UNIX_MINUS_MONO_S * 1e6 + offset_us + drift_us)
+
+
+def frame(frame_id: int, user_ts: int, receive_s: float) -> ReceivedFrame:
+    """A received frame whose pixels all equal its frame_id, so identity can be read back from the image."""
+    return ReceivedFrame(
+        stream_id=16,
+        image=np.full((2, 2, 3), frame_id, dtype=np.uint8),
+        receive_time_ns=round(receive_s * 1e9),
+        transport_timestamp_us=0,
+        user_timestamp_us=user_ts,
+        frame_id=frame_id,
+        user_data=None,
+    )
+
+
+class QueueReceiver:
+    """Serves the scripted frames in order, then reports the track lost."""
+
+    def __init__(self, frames: list[ReceivedFrame]) -> None:
+        self._frames = list(frames)
+
+    async def next_frame_or_lost(self, stream_id: int) -> ReceivedFrame | None:
+        return self._frames.pop(0) if self._frames else None
+
+
+class ListIngress:
+    """Accepts every sample."""
+
+    def __init__(self) -> None:
+        self.offered: list = []
+
+    def offer(self, item) -> bool:
+        self.offered.append(item)
+        return True
+
+
+async def record(frames: list[ReceivedFrame], clocks: PcClocks, receiver=None):
+    """Runs the feed over ``frames`` to the end of the script; returns (feed, offered samples)."""
+    stream = p.LiveKitCameraStream(
+        stream_id=16,
+        name="cam",
+        url="wss://lk",
+        room="r",
+        publisher="o",
+        track="t",
+        timestamp_basis=p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US,
+    )
+    ingress = ListIngress()
+    feed = LiveKitRecordingFeed(
+        receiver or QueueReceiver(frames), [stream], ingress, {16: "cam"}, clock_map=clocks.clock_map()
+    )
+    feed.start()
+    for _ in range(20):
+        await asyncio.sleep(0)
+    await feed.stop()
+    return feed, ingress.offered
+
+
+def residuals(samples, truth_by_id: dict[int, float]) -> list[float]:
+    """Recorded capture_time minus the truth time of the same frame."""
+    return [s.capture_time - truth_by_id[int(s.image[0, 0, 0])] for s in samples]
+
+
+TRUTH_BY_ID = {i + 1: t for i, t in enumerate(TRUTH_S)}
+
+
+async def test_recorded_capture_time_shows_the_injected_offset_and_drift():
+    offset_us, drift_us = 12_000, 150.0
+    frames = [frame(i, stamp_us(t, offset_us, drift_us), t + 0.1) for i, t in TRUTH_BY_ID.items()]
+    feed, samples = await record(frames, PcClocks())
+    assert len(samples) == len(TRUTH_S)
+    for r in residuals(samples, TRUTH_BY_ID):
+        assert r == pytest.approx((offset_us + drift_us) * 1e-6, abs=MICROSECOND)
+
+
+async def test_delivery_jitter_does_not_change_capture_time():
+    delays = [0.02, 0.9, 0.001, 0.5, 0.2]
+    frames = [frame(i, stamp_us(t), t + d) for (i, t), d in zip(TRUTH_BY_ID.items(), delays)]
+    _, samples = await record(frames, PcClocks())
+    assert residuals(samples, TRUTH_BY_ID) == pytest.approx([0.0] * len(TRUTH_S), abs=MICROSECOND)
+
+
+async def test_dropped_frames_leave_the_remaining_frames_capture_time_and_identity():
+    kept = [1, 3, 5]
+    frames = [frame(i, stamp_us(TRUTH_BY_ID[i], 5_000), TRUTH_BY_ID[i] + 0.1) for i in kept]
+    _, samples = await record(frames, PcClocks())
+    assert [int(s.image[0, 0, 0]) for s in samples] == kept
+    assert residuals(samples, TRUTH_BY_ID) == pytest.approx([0.005] * 3, abs=MICROSECOND)
+
+
+async def test_publisher_restart_keeps_each_frames_own_capture_time():
+    # frame_id restarts at 1 after the third frame; only the id repeats, never the event time.
+    ids = [1, 2, 3, 1, 2]
+    frames = [frame(fid, stamp_us(t), t + 0.1) for fid, t in zip(ids, TRUTH_S)]
+    _, samples = await record(frames, PcClocks())
+    assert [s.capture_time for s in samples] == pytest.approx(TRUTH_S, abs=MICROSECOND)
+
+
+async def test_a_pc_clock_step_between_measurements_fails_the_take_and_stops_recording():
+    clocks = PcClocks()
+
+    class SteppingReceiver(QueueReceiver):
+        """Steps this PC's Unix clock by 50 ms and ages the pair after the second frame is served."""
+
+        async def next_frame_or_lost(self, stream_id):
+            if len(self._frames) == 3:
+                clocks.gap_ns += 50_000_000
+                clocks.mono_ns += 1_500_000_000
+            return await super().next_frame_or_lost(stream_id)
+
+    # After the step the later frames arrive in the shifted monotonic time, so their age stays plausible.
+    frames = [frame(i, stamp_us(TRUTH_BY_ID[i]), TRUTH_BY_ID[i] + 0.1) for i in (1, 2)]
+    frames += [frame(i, stamp_us(TRUTH_BY_ID[i]), TRUTH_BY_ID[i] + 1.6) for i in (3, 4, 5)]
+    feed, samples = await record(frames, clocks, SteppingReceiver(frames))
+    assert feed.failure is not None and "clock stepped" in feed.failure
+    assert [int(s.image[0, 0, 0]) for s in samples] == [1, 2]
diff --git a/examples/egocap/tests/tools/test_livekit_orin_emulator.py b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
index 7bdcaf093a..7d8c06943b 100644
--- a/examples/egocap/tests/tools/test_livekit_orin_emulator.py
+++ b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
@@ -273,3 +273,81 @@ def slow_pattern(width, height, sensor, frame_id):
     assert timestamp_us == metadata.user_timestamp == expected_us
     # The raw capture counter is always read before synthesis.
     assert int.from_bytes(bytes(metadata.user_data), "little") == 1_000_000
+
+
+# --- ClockModel ----------------------------------------------------------------
+
+
+def _model(now_ns, **kw):
+    """A model whose run-time clock is the one-element list ``now_ns`` (read at call time)."""
+    return emu.ClockModel(started_ns=0, monotonic_ns=lambda: now_ns[0], **kw)
+
+
+def test_offset_only_applies_to_unix_bases_at_any_run_time():
+    now_ns = [0]
+    model = _model(now_ns, offset_us=250_000)
+    for now_ns[0] in (0, 10_000_000_000):
+        assert model.adjustment_us("capture_unix_us", at_capture=True) == 250_000
+        assert model.adjustment_us("processing_unix_us", at_capture=False) == 250_000
+
+
+def test_drift_grows_linearly_with_injected_run_time():
+    now_ns = [0]
+    model = _model(now_ns, drift_ppm=15.0)
+    seen = []
+    for now_ns[0] in (0, 10_000_000_000, 20_000_000_000):
+        seen.append(model.adjustment_us("capture_unix_us", at_capture=True))
+    assert seen == [0, 150, 300]
+
+
+def test_pipeline_delay_applies_at_capture_only_and_monotonic_is_never_adjusted():
+    now_ns = [10_000_000_000]
+    model = _model(now_ns, offset_us=1_000, drift_ppm=15.0, pipeline_delay_us=40_000)
+    assert model.adjustment_us("capture_unix_us", at_capture=True) == 1_000 + 150 - 40_000
+    assert model.adjustment_us("processing_unix_us", at_capture=False) == 1_000 + 150
+    assert model.adjustment_us("monotonic_us", at_capture=True) == 0
+    assert model.adjustment_us("monotonic_us", at_capture=False) == 0
+
+
+def test_from_args_reads_the_command_line_units():
+    args = SimpleNamespace(clock_offset_ms=-1.5, clock_drift_ppm=2.0, pipeline_delay_ms=30.0)
+    model = emu.ClockModel.from_args(args, monotonic_ns=lambda: 42)
+    assert (model.offset_us, model.drift_ppm, model.pipeline_delay_us, model.started_ns) == (
+        -1_500,
+        2.0,
+        30_000,
+        42,
+    )
+
+
+async def _publish_one(token_file, monkeypatch, sensor, clock, *extra):
+    """Publishes one frame of a track at a frozen host time of 5 s Unix and returns the captured call."""
+    name = f"t{sensor}"
+    args = emu.parse_args(argv(token_file, f"--add-stream=sensor={sensor},livekit={name}", *extra))
+    args.width, args.height = 4, 4
+    monkeypatch.setattr(emu, "user_timestamp_us", lambda _basis: 5_000_000)
+    stop = asyncio.Event()
+    source = FakeSource(stop, limit=1)
+    await emu.publish_stream(
+        source, emu.StreamSpec(sensor, name), args, stop, emu.Counters({name: 0}), lambda: 7_000_000, clock
+    )
+    return source.calls[0]
+
+
+async def test_tracks_sharing_one_model_get_equal_stamps_and_keep_their_identity(token_file, monkeypatch):
+    clock = _model([10_000_000_000], offset_us=2_000, drift_ppm=15.0)
+    first = await _publish_one(token_file, monkeypatch, 0, clock)
+    second = await _publish_one(token_file, monkeypatch, 1, clock)
+    expected = 5_000_000 + 2_000 + 150
+    for _, timestamp_us, metadata in (first, second):
+        assert timestamp_us == metadata.user_timestamp == expected
+        assert metadata.frame_id == 1
+        assert int.from_bytes(bytes(metadata.user_data), "little") == 7_000_000
+
+
+async def test_all_zero_model_reproduces_this_hosts_readings(token_file, monkeypatch):
+    model = emu.ClockModel()
+    for basis in ("capture_unix_us", "processing_unix_us", "monotonic_us"):
+        assert model.adjustment_us(basis, at_capture=True) == model.adjustment_us(basis, at_capture=False) == 0
+    _, timestamp_us, metadata = await _publish_one(token_file, monkeypatch, 0, model)
+    assert timestamp_us == metadata.user_timestamp == 5_000_000

From 2c13777a513185df5e48017a53376782bb1450ea Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:33:46 -0800
Subject: [PATCH 09/54] egocap: show each LiveKit camera tile's displayed frame
 rate

The rate is the change in the browser's cumulative presented-frame count over
a one-second window, not a tally of callbacks; a hidden tab shows paused, a
stalled stream 0 FPS, and a browser without frame callbacks 'FPS unavailable'.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../egocap/frontend/src/LiveKitCameraTile.tsx | 49 +++++++++++++++++--
 1 file changed, 45 insertions(+), 4 deletions(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index e6acb096a3..6468b0414a 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -17,6 +17,17 @@ import type { LiveKitPhase } from "./useLiveKitPreview";
 /** No decoded frame for this long means the picture is frozen. */
 const FRAME_STALE_AFTER_MS = 3000;
 
+/** Seconds-long windows keep the rate readable and the state updates to once per second. */
+const FPS_WINDOW_MS = 1000;
+
+/** The displayed rate for one window from cumulative presented-frame counts; null for an invalid interval. */
+export function displayedFps(previous: { presented: number; at: number }, presented: number, at: number): number | null {
+  const elapsedMs = at - previous.at;
+  const frames = presented - previous.presented;
+  if (elapsedMs <= 0 || frames < 0) return null; // a counter reset or a clock oddity: start a new baseline
+  return (frames * 1000) / elapsedMs;
+}
+
 /** Text shown instead of a picture, or null when a fresh picture is showing. */
 function placeholderFor(phase: LiveKitPhase, track: RemoteTrack | null, hasFrame: boolean, stale: boolean): string | null {
   if (phase === "error") return "Disconnected";
@@ -40,6 +51,10 @@ export function LiveKitCameraTile({
 }) {
   const videoRef = useRef<HTMLVideoElement | null>(null);
   const lastFrameAtRef = useRef<number | null>(null);
+  // Cumulative presented-frame count of the newest frame callback, and the count at the start of the window.
+  const presentedRef = useRef<number | null>(null);
+  const baselineRef = useRef<{ presented: number; at: number } | null>(null);
+  const [fpsLabel, setFpsLabel] = useState<string | null>(null);
   const [hasFrame, setHasFrame] = useState(false);
   const [stale, setStale] = useState(false);
 
@@ -47,6 +62,9 @@ export function LiveKitCameraTile({
   useEffect(() => {
     const element = videoRef.current;
     lastFrameAtRef.current = null;
+    presentedRef.current = null;
+    baselineRef.current = null;
+    setFpsLabel(null);
     setHasFrame(false);
     setStale(false);
     if (element === null || track === null) return;
@@ -69,7 +87,8 @@ export function LiveKitCameraTile({
     };
     const watchFrames = (): void => {
       if (stopped) return;
-      callbackId = element.requestVideoFrameCallback(() => {
+      callbackId = element.requestVideoFrameCallback((_now, metadata) => {
+        presentedRef.current = metadata.presentedFrames;
         markFrame();
         watchFrames();
       });
@@ -77,10 +96,29 @@ export function LiveKitCameraTile({
     // requestVideoFrameCallback reports presented frames exactly; without it, playback progress is the fallback.
     if (typeof element.requestVideoFrameCallback === "function") watchFrames();
     else element.addEventListener("timeupdate", markFrame);
+    const hasFrameCallback = typeof element.requestVideoFrameCallback === "function";
     const timer = setInterval(() => {
+      const now = performance.now();
       const last = lastFrameAtRef.current;
-      if (last !== null && performance.now() - last > FRAME_STALE_AFTER_MS) setStale(true);
-    }, 1000);
+      const isStale = last !== null && now - last > FRAME_STALE_AFTER_MS;
+      if (isStale) setStale(true);
+      // Displayed rate: the change in the browser's own presented-frame count over the window, not a callback tally.
+      const presented = presentedRef.current;
+      if (!hasFrameCallback) {
+        setFpsLabel("FPS unavailable");
+      } else if (document.hidden) {
+        baselineRef.current = null; // a hidden tab's scheduling is not comparable: restart after it returns
+        setFpsLabel("paused");
+      } else if (isStale) {
+        baselineRef.current = null;
+        setFpsLabel("0 FPS");
+      } else if (presented !== null) {
+        const previous = baselineRef.current;
+        baselineRef.current = { presented, at: now };
+        const fps = previous === null ? null : displayedFps(previous, presented, now);
+        if (fps !== null) setFpsLabel(`${fps.toFixed(1)} FPS`);
+      }
+    }, FPS_WINDOW_MS);
     return () => {
       stopped = true;
       clearInterval(timer);
@@ -95,7 +133,10 @@ export function LiveKitCameraTile({
       {/* The element stays mounted while a track exists so attach/detach never races a re-created node. */}
       {track !== null && <video ref={videoRef} muted autoPlay playsInline aria-label={name} />}
       {placeholder !== null && <div className="camera-placeholder">{placeholder}</div>}
-      <figcaption>{name}</figcaption>
+      <figcaption>
+        {name}
+        {fpsLabel !== null && <span className="camera-stats">{fpsLabel}</span>}
+      </figcaption>
     </figure>
   );
 }

From ad55e75686754f7062103bc5b57094592239b0ba Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:34:55 -0800
Subject: [PATCH 10/54] egocap: tests for the displayed frame rate label

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/LiveKitCameraTile.test.tsx   | 81 +++++++++++++++++--
 1 file changed, 76 insertions(+), 5 deletions(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index 7eb88dcd62..a65e89aed8 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -4,16 +4,18 @@
 
 import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
 import { act, cleanup, render, screen } from "@testing-library/react";
-import { LiveKitCameraTile } from "./LiveKitCameraTile";
+import { LiveKitCameraTile, displayedFps } from "./LiveKitCameraTile";
 import { fakeTrack } from "./livekitTestDoubles";
 
-let frameCallbacks: Array<() => void> = [];
+let frameCallbacks: Array<(now: number, metadata: { presentedFrames: number }) => void> = [];
+let presentedTotal = 0;
 
 beforeEach(() => {
   vi.useFakeTimers();
   frameCallbacks = [];
+  presentedTotal = 0;
   // jsdom has no requestVideoFrameCallback; this one lets a test present frames by hand.
-  (HTMLVideoElement.prototype as any).requestVideoFrameCallback = function (cb: () => void) {
+  (HTMLVideoElement.prototype as any).requestVideoFrameCallback = function (cb: (typeof frameCallbacks)[number]) {
     frameCallbacks.push(cb);
     return frameCallbacks.length;
   };
@@ -27,10 +29,12 @@ afterEach(() => {
   delete (HTMLVideoElement.prototype as any).cancelVideoFrameCallback;
 });
 
-function presentFrame(): void {
+/** Presents `frames` frames at once: the browser's cumulative presentedFrames grows by that much. */
+function presentFrame(frames = 1): void {
+  presentedTotal += frames;
   const cbs = frameCallbacks;
   frameCallbacks = [];
-  act(() => cbs.forEach((cb) => cb()));
+  act(() => cbs.forEach((cb) => cb(0, { presentedFrames: presentedTotal })));
 }
 
 describe("LiveKitCameraTile placeholders", () => {
@@ -132,3 +136,70 @@ describe("LiveKitCameraTile track wiring and labels", () => {
     expect(document.querySelector(".camera-tile--primary")).not.toBeNull();
   });
 });
+
+describe("displayedFps", () => {
+  it("is frames per second over the window", () => {
+    expect(displayedFps({ presented: 10, at: 0 }, 40, 1000)).toBe(30);
+  });
+
+  it("returns null when the counter went backwards", () => {
+    expect(displayedFps({ presented: 40, at: 0 }, 10, 1000)).toBeNull();
+  });
+
+  it("returns null for a non-positive interval", () => {
+    expect(displayedFps({ presented: 0, at: 1000 }, 5, 1000)).toBeNull();
+    expect(displayedFps({ presented: 0, at: 1000 }, 5, 500)).toBeNull();
+  });
+});
+
+describe("LiveKitCameraTile FPS label", () => {
+  function renderTile() {
+    return render(<LiveKitCameraTile name="Head" track={fakeTrack()} phase="connected" primary={false} />);
+  }
+
+  it("shows the presented-frame delta per second after two windows", () => {
+    renderTile();
+    presentFrame(0);
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(document.querySelector(".camera-stats")).toBeNull(); // first window only sets the baseline
+    presentFrame(30);
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(document.querySelector(".camera-stats")?.textContent).toBe("30.0 FPS");
+  });
+
+  it("shows 0 FPS when no frame arrives for more than three seconds", () => {
+    renderTile();
+    presentFrame();
+    act(() => {
+      vi.advanceTimersByTime(5000);
+    });
+    expect(document.querySelector(".camera-stats")?.textContent).toBe("0 FPS");
+  });
+
+  it("shows paused while the document is hidden", () => {
+    Object.defineProperty(document, "hidden", { configurable: true, value: true });
+    try {
+      renderTile();
+      presentFrame();
+      act(() => {
+        vi.advanceTimersByTime(1000);
+      });
+      expect(document.querySelector(".camera-stats")?.textContent).toBe("paused");
+    } finally {
+      delete (document as any).hidden;
+    }
+  });
+
+  it("shows FPS unavailable without requestVideoFrameCallback", () => {
+    delete (HTMLVideoElement.prototype as any).requestVideoFrameCallback;
+    renderTile();
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(document.querySelector(".camera-stats")?.textContent).toBe("FPS unavailable");
+  });
+});

From b545c7aa593129c7503f085f898b72043beec8d8 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:35:08 -0800
Subject: [PATCH 11/54] egocap: make the timeline test's drift grow with run
 time

Each camera stamp is truth + offset + elapsed_s * drift_ppm over a 60 s span,
and the recorded residual is asserted per frame and to increase.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../tests/backend/test_synthetic_timeline.py  | 20 +++++++++++++------
 1 file changed, 14 insertions(+), 6 deletions(-)

diff --git a/examples/egocap/tests/backend/test_synthetic_timeline.py b/examples/egocap/tests/backend/test_synthetic_timeline.py
index b89fe7e15a..2083e8da0b 100644
--- a/examples/egocap/tests/backend/test_synthetic_timeline.py
+++ b/examples/egocap/tests/backend/test_synthetic_timeline.py
@@ -109,12 +109,20 @@ def residuals(samples, truth_by_id: dict[int, float]) -> list[float]:
 
 
 async def test_recorded_capture_time_shows_the_injected_offset_and_drift():
-    offset_us, drift_us = 12_000, 150.0
-    frames = [frame(i, stamp_us(t, offset_us, drift_us), t + 0.1) for i, t in TRUTH_BY_ID.items()]
-    feed, samples = await record(frames, PcClocks())
-    assert len(samples) == len(TRUTH_S)
-    for r in residuals(samples, TRUTH_BY_ID):
-        assert r == pytest.approx((offset_us + drift_us) * 1e-6, abs=MICROSECOND)
+    offset_us, drift_ppm = 12_000, 20.0  # ppm is microseconds of error per elapsed second
+    run_start_s = 100.0
+    truth_by_id = {i + 1: run_start_s + e for i, e in enumerate([0.0, 15.0, 30.0, 45.0, 60.0])}
+    elapsed_s = {i: t - run_start_s for i, t in truth_by_id.items()}
+    frames = [frame(i, stamp_us(t, offset_us, elapsed_s[i] * drift_ppm), t + 0.1) for i, t in truth_by_id.items()]
+    _, samples = await record(frames, PcClocks())
+    assert len(samples) == len(truth_by_id)
+    got = residuals(samples, truth_by_id)
+    for r, i in zip(got, truth_by_id):
+        assert r == pytest.approx((offset_us + elapsed_s[i] * drift_ppm) * MICROSECOND, abs=MICROSECOND)
+    assert all(b > a for a, b in zip(got, got[1:]))
+
+
+# Jitter/drop/restart cases: LiveKitRecordingFeed fed manual ReceivedFrames, not the full wire path.
 
 
 async def test_delivery_jitter_does_not_change_capture_time():

From c3837d7f656abaa510a88d84eae1e44141c22090 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:37:26 -0800
Subject: [PATCH 12/54] egocap: show capture-to-display latency on each LiveKit
 camera tile

The median and 95th percentile of the browser's expected display time minus
the frame's capture time over a one-second window, only when the browser
supplies a capture time for the frame; otherwise 'latency unavailable'. It is
the sender's capture time as the browser maps it, not a qualified sensor
timestamp.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../egocap/frontend/src/LiveKitCameraTile.tsx | 43 +++++++++++++++++++
 1 file changed, 43 insertions(+)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 6468b0414a..ec848d8f6f 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -20,6 +20,17 @@ const FRAME_STALE_AFTER_MS = 3000;
 /** Seconds-long windows keep the rate readable and the state updates to once per second. */
 const FPS_WINDOW_MS = 1000;
 
+/** Most recent latency samples kept per window; one per presented frame at typical rates fits comfortably. */
+const MAX_LATENCY_SAMPLES = 240;
+
+/** Median and 95th percentile of a window's latency samples in ms, or null when there are none. */
+export function latencySummary(samples: number[]): { median: number; p95: number } | null {
+  if (samples.length === 0) return null;
+  const sorted = [...samples].sort((a, b) => a - b);
+  const at = (q: number): number => sorted[Math.min(sorted.length - 1, Math.floor(q * sorted.length))];
+  return { median: at(0.5), p95: at(0.95) };
+}
+
 /** The displayed rate for one window from cumulative presented-frame counts; null for an invalid interval. */
 export function displayedFps(previous: { presented: number; at: number }, presented: number, at: number): number | null {
   const elapsedMs = at - previous.at;
@@ -54,7 +65,10 @@ export function LiveKitCameraTile({
   // Cumulative presented-frame count of the newest frame callback, and the count at the start of the window.
   const presentedRef = useRef<number | null>(null);
   const baselineRef = useRef<{ presented: number; at: number } | null>(null);
+  // Capture-to-expected-display samples (ms) from the browser's own frame metadata, for the current window.
+  const latencySamplesRef = useRef<number[]>([]);
   const [fpsLabel, setFpsLabel] = useState<string | null>(null);
+  const [latencyLabel, setLatencyLabel] = useState<string | null>(null);
   const [hasFrame, setHasFrame] = useState(false);
   const [stale, setStale] = useState(false);
 
@@ -64,7 +78,9 @@ export function LiveKitCameraTile({
     lastFrameAtRef.current = null;
     presentedRef.current = null;
     baselineRef.current = null;
+    latencySamplesRef.current = [];
     setFpsLabel(null);
+    setLatencyLabel(null);
     setHasFrame(false);
     setStale(false);
     if (element === null || track === null) return;
@@ -89,6 +105,17 @@ export function LiveKitCameraTile({
       if (stopped) return;
       callbackId = element.requestVideoFrameCallback((_now, metadata) => {
         presentedRef.current = metadata.presentedFrames;
+        // Only when the browser gives this frame a capture time (WebRTC video, in the same time origin as the
+        // expected display time): the sender's capture event as the browser maps it, not a measurement of ours.
+        const capture = metadata.captureTime;
+        if (typeof capture === "number") {
+          const latency = metadata.expectedDisplayTime - capture;
+          if (Number.isFinite(latency) && latency >= 0) {
+            const samples = latencySamplesRef.current;
+            samples.push(latency);
+            if (samples.length > MAX_LATENCY_SAMPLES) samples.shift();
+          }
+        }
         markFrame();
         watchFrames();
       });
@@ -104,15 +131,26 @@ export function LiveKitCameraTile({
       if (isStale) setStale(true);
       // Displayed rate: the change in the browser's own presented-frame count over the window, not a callback tally.
       const presented = presentedRef.current;
+      // The window's latency samples are summarized once and cleared, so a stalled stream never keeps an old number.
+      const summary = latencySummary(latencySamplesRef.current);
+      latencySamplesRef.current = [];
       if (!hasFrameCallback) {
         setFpsLabel("FPS unavailable");
+        setLatencyLabel("latency unavailable");
       } else if (document.hidden) {
         baselineRef.current = null; // a hidden tab's scheduling is not comparable: restart after it returns
         setFpsLabel("paused");
+        setLatencyLabel(null);
       } else if (isStale) {
         baselineRef.current = null;
         setFpsLabel("0 FPS");
+        setLatencyLabel(null);
       } else if (presented !== null) {
+        setLatencyLabel(
+          summary === null
+            ? "latency unavailable"
+            : `${summary.median.toFixed(0)} ms (p95 ${summary.p95.toFixed(0)})`,
+        );
         const previous = baselineRef.current;
         baselineRef.current = { presented, at: now };
         const fps = previous === null ? null : displayedFps(previous, presented, now);
@@ -136,6 +174,11 @@ export function LiveKitCameraTile({
       <figcaption>
         {name}
         {fpsLabel !== null && <span className="camera-stats">{fpsLabel}</span>}
+        {latencyLabel !== null && (
+          <span className="camera-stats" title="Sender capture time to expected display time, as the browser reports it; not a qualified sensor timestamp">
+            {latencyLabel}
+          </span>
+        )}
       </figcaption>
     </figure>
   );

From 6a1876ce4ea4e7e8d2076a7d51f4756ec0c64ee9 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:38:09 -0800
Subject: [PATCH 13/54] egocap: tests for the capture-to-display latency label

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/LiveKitCameraTile.test.tsx   | 77 +++++++++++++++++--
 1 file changed, 72 insertions(+), 5 deletions(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index a65e89aed8..82f43eed2b 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -4,10 +4,11 @@
 
 import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
 import { act, cleanup, render, screen } from "@testing-library/react";
-import { LiveKitCameraTile, displayedFps } from "./LiveKitCameraTile";
+import { LiveKitCameraTile, displayedFps, latencySummary } from "./LiveKitCameraTile";
 import { fakeTrack } from "./livekitTestDoubles";
 
-let frameCallbacks: Array<(now: number, metadata: { presentedFrames: number }) => void> = [];
+type FrameMetadata = { presentedFrames: number; captureTime?: number; expectedDisplayTime?: number };
+let frameCallbacks: Array<(now: number, metadata: FrameMetadata) => void> = [];
 let presentedTotal = 0;
 
 beforeEach(() => {
@@ -30,11 +31,11 @@ afterEach(() => {
 });
 
 /** Presents `frames` frames at once: the browser's cumulative presentedFrames grows by that much. */
-function presentFrame(frames = 1): void {
+function presentFrame(frames = 1, times: { captureTime?: number; expectedDisplayTime?: number } = {}): void {
   presentedTotal += frames;
   const cbs = frameCallbacks;
   frameCallbacks = [];
-  act(() => cbs.forEach((cb) => cb(0, { presentedFrames: presentedTotal })));
+  act(() => cbs.forEach((cb) => cb(0, { presentedFrames: presentedTotal, ...times })));
 }
 
 describe("LiveKitCameraTile placeholders", () => {
@@ -163,7 +164,7 @@ describe("LiveKitCameraTile FPS label", () => {
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(document.querySelector(".camera-stats")).toBeNull(); // first window only sets the baseline
+    expect(document.body.textContent).not.toMatch(/FPS/); // first window only sets the baseline
     presentFrame(30);
     act(() => {
       vi.advanceTimersByTime(1000);
@@ -203,3 +204,69 @@ describe("LiveKitCameraTile FPS label", () => {
     expect(document.querySelector(".camera-stats")?.textContent).toBe("FPS unavailable");
   });
 });
+
+describe("latencySummary", () => {
+  it("is null for no samples", () => {
+    expect(latencySummary([])).toBeNull();
+  });
+
+  it("takes the median of a small set", () => {
+    expect(latencySummary([30, 10, 20])?.median).toBe(20);
+  });
+
+  it("puts p95 within the top 5 of 100 samples", () => {
+    const samples = Array.from({ length: 100 }, (_, i) => i + 1);
+    expect(latencySummary(samples)!.p95).toBeGreaterThanOrEqual(96);
+  });
+});
+
+describe("LiveKitCameraTile latency label", () => {
+  function renderTile() {
+    return render(<LiveKitCameraTile name="Head" track={fakeTrack()} phase="connected" primary={false} />);
+  }
+  const statsTexts = (): string[] => Array.from(document.querySelectorAll(".camera-stats")).map((e) => e.textContent ?? "");
+
+  it("shows median and p95 of expectedDisplayTime - captureTime after a window", () => {
+    renderTile();
+    for (let i = 0; i < 3; i++) presentFrame(1, { captureTime: 1000 + i, expectedDisplayTime: 1070 + i });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(statsTexts()).toContain("70 ms (p95 70)");
+  });
+
+  it("shows latency unavailable when frames carry no captureTime", () => {
+    renderTile();
+    presentFrame(1);
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(statsTexts()).toContain("latency unavailable");
+  });
+
+  it("shows no latency label for a stale stream", () => {
+    renderTile();
+    presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1070 });
+    act(() => {
+      vi.advanceTimersByTime(5000);
+    });
+    expect(statsTexts()).toEqual(["0 FPS"]);
+  });
+
+  it("ignores negative and non-finite latency samples", () => {
+    renderTile();
+    presentFrame(1, { captureTime: 1100, expectedDisplayTime: 1000 });
+    presentFrame(1, { captureTime: 1000, expectedDisplayTime: NaN });
+    presentFrame(1, { captureTime: 1000, expectedDisplayTime: Infinity });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(statsTexts()).toContain("latency unavailable");
+    presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1040 });
+    presentFrame(1, { captureTime: 1100, expectedDisplayTime: 1000 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(statsTexts()).toContain("40 ms (p95 40)");
+  });
+});

From 111521d11f55f2d90962ca78f2e8014a8adf2ef4 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:40:23 -0800
Subject: [PATCH 14/54] egocap: show the publisher-stamp-to-PC-receipt delay on
 each LiveKit tile

The browser's video element receives none of our per-frame metadata, so its
capture-to-display figure is often unavailable. The backend subscribes on
demand (stopping when idle), measures each frame's Unix publisher stamp
against its own receipt time, and serves the last few seconds' median and p95
at /api/livekit-latency; the tile shows it as 'ms to PC' when the browser has
no figure. It includes the publisher's clock offset and excludes the
browser's decode and render time.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/backend/egocap_web/app.py     |   8 +
 .../backend/egocap_web/livekit_latency.py     | 176 ++++++++++++++++++
 examples/egocap/frontend/src/CameraGrid.tsx   |   3 +
 .../egocap/frontend/src/LiveKitCameraTile.tsx |  21 ++-
 .../egocap/frontend/src/livekitPreview.ts     |  15 ++
 .../egocap/frontend/src/useLiveKitLatency.ts  |  44 +++++
 6 files changed, 265 insertions(+), 2 deletions(-)
 create mode 100644 examples/egocap/backend/egocap_web/livekit_latency.py
 create mode 100644 examples/egocap/frontend/src/useLiveKitLatency.ts

diff --git a/examples/egocap/backend/egocap_web/app.py b/examples/egocap/backend/egocap_web/app.py
index 8d0478220f..d3f21561c3 100644
--- a/examples/egocap/backend/egocap_web/app.py
+++ b/examples/egocap/backend/egocap_web/app.py
@@ -35,6 +35,8 @@
 from .capture_preview import MAX_CAMERA_JPEG_BYTES
 from .capture_status import CaptureStatusMonitor
 from .config import VisualizationConfig, config_from_env, visualization_from_env
+from .livekit_latency import LiveKitLatencyProbe
+from .livekit_latency import router as livekit_latency_router
 from .livekit_preview import API_KEY_ENV, API_SECRET_ENV, subscriber_token
 from .livekit_preview import router as livekit_preview_router
 from .livekit_receiver import RECEIVER_FRAMES_PER_STREAM
@@ -406,6 +408,10 @@ async def lifespan(app: FastAPI) -> AsyncIterator[None]:
     monitor.set_recording(coordinator)
     await monitor.start()
     app.state.monitor = monitor
+    app.state.livekit_latency = LiveKitLatencyProbe(
+        lambda: [s for s in (monitor.native.started.streams if monitor.native.started else ())],
+        _recorder_livekit_token,
+    )
     # Generated once per backend process start (a restart is the only way
     # to issue a new one) and printed here -- this console line is the
     # distribution mechanism, which the operator reads off the machine
@@ -443,6 +449,7 @@ async def lifespan(app: FastAPI) -> AsyncIterator[None]:
         yield
     finally:
         try:
+            await app.state.livekit_latency.stop()
             if visualization is not None:
                 await visualization.stop()
         finally:
@@ -471,6 +478,7 @@ def _optional_visualization(
 app = FastAPI(lifespan=lifespan)
 app.include_router(preview_router)
 app.include_router(livekit_preview_router)
+app.include_router(livekit_latency_router)
 app.include_router(task_file_router)
 app.include_router(settings_router)
 app.include_router(operator_settings_router)
diff --git a/examples/egocap/backend/egocap_web/livekit_latency.py b/examples/egocap/backend/egocap_web/livekit_latency.py
new file mode 100644
index 0000000000..80c79e73c5
--- /dev/null
+++ b/examples/egocap/backend/egocap_web/livekit_latency.py
@@ -0,0 +1,176 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Publisher-stamp-to-receipt delay of the offered LiveKit streams, measured by the backend's own subscription.
+
+The browser's video element does not receive our per-frame metadata, so its page cannot compute this delay. The
+backend can: its receiver sees every frame's publisher timestamp (``user_timestamp_us``) when it arrives. This is
+one-way delay from the publisher's stamp to this process taking the frame from the SDK, for a Unix-time stamp; it
+includes the publisher's clock offset from this host, so it is exact only as far as the two clocks agree, and it
+leaves out the browser's own decode and render time. A monotonic stamp cannot be subtracted from this host's clock
+and reports no delay.
+
+The subscription is started by the first request and stopped after a short idle time, because it decodes every
+frame. It is for preview, not recording.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import contextlib
+import logging
+import time
+from collections import deque
+from collections.abc import Callable, Sequence
+
+from fastapi import APIRouter, Request
+from fastapi.responses import JSONResponse
+
+from capture_server import protocol as p
+
+from .livekit_receiver import LiveKitFrameReceiver
+
+logger = logging.getLogger("isaaccapture.egocap.livekit_latency")
+
+#: How long a subscription runs without anyone asking for its numbers before it is shut down.
+IDLE_STOP_S = 15.0
+#: Only samples from the last few seconds are summarized, so a stalled stream does not keep an old number.
+WINDOW_S = 3.0
+_MAX_SAMPLES = 600
+#: A delay outside this range (a stamp from a different clock domain) is dropped, not averaged. A small negative
+#: delay is kept: it means the publisher's clock is ahead by more than the true delay, which is a finding.
+_MIN_PLAUSIBLE_MS = -1_000.0
+_MAX_PLAUSIBLE_MS = 60_000.0
+
+
+def summarize(samples_ms: Sequence[float]) -> dict[str, float | int] | None:
+    """Median, 95th percentile and count of the samples, or None when there are none."""
+    if not samples_ms:
+        return None
+    ordered = sorted(samples_ms)
+
+    def at(q: float) -> float:
+        return ordered[min(len(ordered) - 1, int(q * len(ordered)))]
+
+    return {"median_ms": round(at(0.5), 1), "p95_ms": round(at(0.95), 1), "samples": len(ordered)}
+
+
+class LiveKitLatencyProbe:
+    """Starts on demand, measures each offered stream's stamp-to-receipt delay, and stops when idle."""
+
+    def __init__(
+        self,
+        streams: Callable[[], Sequence[p.LiveKitCameraStream]],
+        make_token: Callable[[str], str],
+        *,
+        clock_ns: Callable[[], int] = time.monotonic_ns,
+        unix_ns: Callable[[], int] = time.time_ns,
+    ) -> None:
+        self._streams = streams
+        self._make_token = make_token
+        self._clock_ns = clock_ns
+        self._unix_ns = unix_ns
+        self._key: tuple[tuple[str, str, str], ...] | None = None
+        self._receiver: LiveKitFrameReceiver | None = None
+        self._tasks: list[asyncio.Task[None]] = []
+        self._samples: dict[str, deque[tuple[int, float]]] = {}
+        self._basis: dict[str, str] = {}
+        self._last_request_ns = 0
+        self._lock = asyncio.Lock()
+
+    async def snapshot(self) -> dict[str, dict[str, object]]:
+        """Per-stream delay summary for the last few seconds by stream name; starts the subscription if needed.
+
+        A stream with no recent sample reports ``None`` for its summary, with the reason in ``note``.
+        """
+        self._last_request_ns = self._clock_ns()
+        offered = [s for s in self._streams() if isinstance(s, p.LiveKitCameraStream)]
+        async with self._lock:
+            await self._ensure(offered)
+        now = self._clock_ns()
+        out: dict[str, dict[str, object]] = {}
+        for stream in offered:
+            recent = [ms for at, ms in self._samples.get(stream.name, ()) if now - at <= WINDOW_S * 1e9]
+            basis = stream.timestamp_basis.name
+            if stream.timestamp_basis is p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US:
+                note = "a monotonic publisher stamp cannot be compared with this host's clock"
+            elif not recent:
+                note = "no frames received recently"
+            else:
+                note = ""
+            out[stream.name] = {"basis": basis, "summary": summarize(recent), "note": note}
+        return out
+
+    async def stop(self) -> None:
+        async with self._lock:
+            await self._stop_locked()
+
+    async def _ensure(self, offered: Sequence[p.LiveKitCameraStream]) -> None:
+        key = tuple(sorted((s.url, s.room, s.track) for s in offered))
+        failed = self._receiver is not None and self._receiver.failed.is_set()
+        if self._receiver is not None and key == self._key and not failed:
+            return
+        await self._stop_locked()
+        if not offered:
+            return
+        self._key = key
+        self._samples = {s.name: deque(maxlen=_MAX_SAMPLES) for s in offered}
+        receiver = LiveKitFrameReceiver(offered, self._make_token(offered[0].room), queue_frames=2)
+        try:
+            await receiver.start()
+        except Exception:
+            logger.exception("LiveKit latency subscription failed to start")
+            await receiver.stop()
+            self._key = None
+            return
+        self._receiver = receiver
+        self._tasks = [asyncio.get_running_loop().create_task(self._run(receiver, s)) for s in offered]
+        self._tasks.append(asyncio.get_running_loop().create_task(self._stop_when_idle()))
+
+    async def _stop_locked(self) -> None:
+        tasks, receiver = self._tasks, self._receiver
+        self._tasks, self._receiver, self._key = [], None, None
+        current = asyncio.current_task()
+        for task in tasks:
+            if task is not current:
+                task.cancel()
+        for task in tasks:
+            if task is not current:
+                with contextlib.suppress(asyncio.CancelledError):
+                    await task
+        if receiver is not None:
+            await receiver.stop()
+
+    async def _stop_when_idle(self) -> None:
+        while True:
+            await asyncio.sleep(IDLE_STOP_S / 3)
+            if self._clock_ns() - self._last_request_ns > IDLE_STOP_S * 1e9:
+                logger.info("LiveKit latency subscription idle; stopping")
+                asyncio.get_running_loop().create_task(self.stop())
+                return
+
+    async def _run(self, receiver: LiveKitFrameReceiver, stream: p.LiveKitCameraStream) -> None:
+        """Record the stamp-to-receipt delay of every frame of one stream."""
+        unix_basis = stream.timestamp_basis is not p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US
+        samples = self._samples[stream.name]
+        while True:
+            frame = await receiver.next_frame_or_lost(stream.stream_id)
+            if frame is None:
+                await asyncio.sleep(0.5)  # the track is gone; wait for it to come back
+                continue
+            if not unix_basis or frame.user_timestamp_us is None:
+                continue
+            delay_ms = (self._unix_ns() / 1000 - frame.user_timestamp_us) / 1000
+            if _MIN_PLAUSIBLE_MS <= delay_ms <= _MAX_PLAUSIBLE_MS:
+                samples.append((self._clock_ns(), delay_ms))
+
+
+router = APIRouter()
+
+
+@router.get("/api/livekit-latency")
+async def get_livekit_latency(request: Request) -> JSONResponse:
+    """Stamp-to-receipt delay of each offered LiveKit stream, from the backend's own subscription."""
+    probe: LiveKitLatencyProbe = request.app.state.livekit_latency
+    return JSONResponse({"streams": await probe.snapshot()}, headers={"Cache-Control": "no-store"})
diff --git a/examples/egocap/frontend/src/CameraGrid.tsx b/examples/egocap/frontend/src/CameraGrid.tsx
index e79a257e5e..a1f393bd62 100644
--- a/examples/egocap/frontend/src/CameraGrid.tsx
+++ b/examples/egocap/frontend/src/CameraGrid.tsx
@@ -17,6 +17,7 @@ import { CameraRateTracker, formatCameraStats } from "./cameraRates";
 import { ROLE_LABELS } from "./settingsApi";
 import { roleOfCamera } from "./useOperatorSettings";
 import { LiveKitCameraTile } from "./LiveKitCameraTile";
+import { useLiveKitLatency } from "./useLiveKitLatency";
 import { useLiveKitPreview } from "./useLiveKitPreview";
 
 const CAMERA_ERROR_RETRY_LIMIT = 3;
@@ -190,6 +191,7 @@ export function CameraGrid({
 
   // Direct LiveKit tiles sit beside the CaptureServer ones; they have their own connection and readiness.
   const livekit = useLiveKitPreview(liveKitStreams(snapshot?.started));
+  const pcLatency = useLiveKitLatency(livekit.tiles.length > 0);
   const cameras = snapshot?.cameras ?? [];
   const livekitShown = livekit.tiles.length > 0 || livekit.phase === "error";
   if (cameras.length === 0 && !livekitShown) {
@@ -265,6 +267,7 @@ export function CameraGrid({
             name={tile.name}
             track={tile.track}
             phase={livekit.phase}
+            pcLatency={pcLatency[tile.name] ?? null}
             // A LiveKit tile is a main view only when no CaptureServer camera claims that place: every head
             // camera when there are several, otherwise the first tile.
             primary={liveKitOnly && (equalHeads ? isHeadTile(tile.name) : index === 0)}
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index ec848d8f6f..4f16c37d93 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -12,6 +12,7 @@
 
 import { useEffect, useRef, useState } from "react";
 import type { RemoteTrack } from "livekit-client";
+import type { LiveKitLatencyEntry } from "./livekitPreview";
 import type { LiveKitPhase } from "./useLiveKitPreview";
 
 /** No decoded frame for this long means the picture is frozen. */
@@ -54,11 +55,14 @@ export function LiveKitCameraTile({
   track,
   phase,
   primary,
+  pcLatency = null,
 }: {
   name: string;
   track: RemoteTrack | null;
   phase: LiveKitPhase;
   primary: boolean;
+  /** The backend's measured publisher-stamp-to-receipt delay for this stream, used when the browser has none. */
+  pcLatency?: LiveKitLatencyEntry | null;
 }) {
   const videoRef = useRef<HTMLVideoElement | null>(null);
   const lastFrameAtRef = useRef<number | null>(null);
@@ -165,6 +169,19 @@ export function LiveKitCameraTile({
     };
   }, [track]);
 
+  // The browser's own capture-to-display figure when it has one; otherwise the backend's stamp-to-receipt delay.
+  const browserHasLatency = latencyLabel !== null && latencyLabel !== "latency unavailable";
+  const pcSummary = pcLatency?.summary ?? null;
+  const latencyText = browserHasLatency
+    ? latencyLabel
+    : pcSummary !== null
+      ? `${pcSummary.median_ms.toFixed(0)} ms (p95 ${pcSummary.p95_ms.toFixed(0)}) to PC`
+      : (latencyLabel ?? "");
+  const latencyTitle = browserHasLatency
+    ? "Sender capture time to expected display time, as the browser reports it; not a qualified sensor timestamp"
+    : pcSummary !== null
+      ? "Publisher stamp to this PC's backend receiving the frame; includes the publisher's clock offset and excludes browser decode and render"
+      : (pcLatency?.note ?? "No capture time reaches the browser for this stream");
   const placeholder = placeholderFor(phase, track, hasFrame, stale);
   return (
     <figure className={`camera-tile${primary ? " camera-tile--primary" : ""}${stale ? " tone-warning" : ""}`}>
@@ -175,8 +192,8 @@ export function LiveKitCameraTile({
         {name}
         {fpsLabel !== null && <span className="camera-stats">{fpsLabel}</span>}
         {latencyLabel !== null && (
-          <span className="camera-stats" title="Sender capture time to expected display time, as the browser reports it; not a qualified sensor timestamp">
-            {latencyLabel}
+          <span className="camera-stats" title={latencyTitle}>
+            {latencyText}
           </span>
         )}
       </figcaption>
diff --git a/examples/egocap/frontend/src/livekitPreview.ts b/examples/egocap/frontend/src/livekitPreview.ts
index cad54e38c5..019ed1916d 100644
--- a/examples/egocap/frontend/src/livekitPreview.ts
+++ b/examples/egocap/frontend/src/livekitPreview.ts
@@ -35,3 +35,18 @@ export async function fetchLiveKitToken(room: string, signal?: AbortSignal): Pro
   }
   return body.token;
 }
+
+/** The backend's measured delay from a stream's publisher stamp to its own receipt, per stream name. */
+export interface LiveKitLatencyEntry {
+  basis: string;
+  summary: { median_ms: number; p95_ms: number; samples: number } | null;
+  note: string;
+}
+
+/** Fetches the backend-side stamp-to-receipt delay of the offered LiveKit streams. */
+export async function fetchLiveKitLatency(signal?: AbortSignal): Promise<Record<string, LiveKitLatencyEntry>> {
+  const response = await fetch("/api/livekit-latency", { signal });
+  if (!response.ok) return {};
+  const body = (await response.json()) as { streams?: Record<string, LiveKitLatencyEntry> };
+  return body.streams ?? {};
+}
diff --git a/examples/egocap/frontend/src/useLiveKitLatency.ts b/examples/egocap/frontend/src/useLiveKitLatency.ts
new file mode 100644
index 0000000000..255c18c49d
--- /dev/null
+++ b/examples/egocap/frontend/src/useLiveKitLatency.ts
@@ -0,0 +1,44 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+/**
+ * The backend's measured stamp-to-receipt delay of each LiveKit stream, polled once per second while any LiveKit
+ * tile is shown. The first request starts the backend's subscription, which stops by itself when requests stop.
+ */
+
+import { useEffect, useState } from "react";
+import { fetchLiveKitLatency } from "./livekitPreview";
+import type { LiveKitLatencyEntry } from "./livekitPreview";
+
+const POLL_INTERVAL_MS = 1000;
+
+export function useLiveKitLatency(active: boolean): Record<string, LiveKitLatencyEntry> {
+  const [latency, setLatency] = useState<Record<string, LiveKitLatencyEntry>>({});
+
+  useEffect(() => {
+    if (!active) {
+      setLatency({});
+      return;
+    }
+    const controller = new AbortController();
+    let cancelled = false;
+    const poll = async (): Promise<void> => {
+      try {
+        const next = await fetchLiveKitLatency(controller.signal);
+        if (!cancelled) setLatency(next);
+      } catch {
+        // The backend is unreachable or the request was aborted: keep the last value until the next poll.
+      }
+    };
+    void poll();
+    const timer = setInterval(() => void poll(), POLL_INTERVAL_MS);
+    return () => {
+      cancelled = true;
+      controller.abort();
+      clearInterval(timer);
+    };
+  }, [active]);
+
+  return latency;
+}

From ee21c6ec7567a2899fd7a1b1eaa07c8ba6ec1276 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:42:22 -0800
Subject: [PATCH 15/54] egocap: tests for the backend latency probe, its route,
 the polling hook and the tile

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/LiveKitCameraTile.test.tsx   |  49 +++++
 .../frontend/src/useLiveKitLatency.test.ts    |  70 +++++++
 .../tests/backend/test_livekit_latency.py     | 195 ++++++++++++++++++
 3 files changed, 314 insertions(+)
 create mode 100644 examples/egocap/frontend/src/useLiveKitLatency.test.ts
 create mode 100644 examples/egocap/tests/backend/test_livekit_latency.py

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index 82f43eed2b..f0d227c4a2 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -270,3 +270,52 @@ describe("LiveKitCameraTile latency label", () => {
     expect(statsTexts()).toContain("40 ms (p95 40)");
   });
 });
+
+describe("LiveKitCameraTile backend latency", () => {
+  const PC = {
+    basis: "SENSOR_CAPTURE_UNIX_US",
+    summary: { median_ms: 52.4, p95_ms: 80.6, samples: 30 },
+    note: "",
+  };
+  const statsTexts = (): string[] =>
+    Array.from(document.querySelectorAll(".camera-stats")).map(
+      (e) => e.textContent ?? "",
+    );
+  const tile = () => (
+    <LiveKitCameraTile
+      name="Head"
+      track={fakeTrack()}
+      phase="connected"
+      primary={false}
+      pcLatency={PC}
+    />
+  );
+
+  it("shows the backend figure when the browser has no latency", () => {
+    render(tile());
+    presentFrame(1);
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(statsTexts()).toContain("52 ms (p95 81) to PC");
+  });
+
+  it("prefers the browser's own figure", () => {
+    render(tile());
+    presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1070 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(statsTexts()).toContain("70 ms (p95 70)");
+    expect(statsTexts().some((t) => t.includes("to PC"))).toBe(false);
+  });
+
+  it("shows nothing about latency for a stale stream", () => {
+    render(tile());
+    presentFrame(1);
+    act(() => {
+      vi.advanceTimersByTime(5000);
+    });
+    expect(statsTexts()).toEqual(["0 FPS"]);
+  });
+});
diff --git a/examples/egocap/frontend/src/useLiveKitLatency.test.ts b/examples/egocap/frontend/src/useLiveKitLatency.test.ts
new file mode 100644
index 0000000000..d97164aaf7
--- /dev/null
+++ b/examples/egocap/frontend/src/useLiveKitLatency.test.ts
@@ -0,0 +1,70 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
+import { act, cleanup, renderHook } from "@testing-library/react";
+import { useLiveKitLatency } from "./useLiveKitLatency";
+
+const ENTRY = {
+  basis: "SENSOR_CAPTURE_UNIX_US",
+  summary: { median_ms: 50, p95_ms: 60, samples: 3 },
+  note: "",
+};
+let fetchMock: ReturnType<typeof vi.fn>;
+
+beforeEach(() => {
+  vi.useFakeTimers();
+  fetchMock = vi.fn(async () => ({
+    ok: true,
+    json: async () => ({ streams: { Head: ENTRY } }),
+  }));
+  vi.stubGlobal("fetch", fetchMock);
+});
+
+afterEach(() => {
+  cleanup();
+  vi.useRealTimers();
+  vi.unstubAllGlobals();
+});
+
+describe("useLiveKitLatency", () => {
+  it("polls once per second while active and returns the streams", async () => {
+    const { result } = renderHook(() => useLiveKitLatency(true));
+    await act(async () => {
+      await vi.advanceTimersByTimeAsync(0);
+    });
+    expect(fetchMock).toHaveBeenCalledTimes(1);
+    expect(fetchMock.mock.calls[0][0]).toBe("/api/livekit-latency");
+    expect(result.current).toEqual({ Head: ENTRY });
+    await act(async () => {
+      await vi.advanceTimersByTimeAsync(2000);
+    });
+    expect(fetchMock).toHaveBeenCalledTimes(3);
+  });
+
+  it("clears the value and stops polling when it becomes inactive", async () => {
+    const { result, rerender } = renderHook(
+      ({ active }) => useLiveKitLatency(active),
+      { initialProps: { active: true } },
+    );
+    await act(async () => {
+      await vi.advanceTimersByTimeAsync(0);
+    });
+    expect(result.current).toEqual({ Head: ENTRY });
+    rerender({ active: false });
+    expect(result.current).toEqual({});
+    await act(async () => {
+      await vi.advanceTimersByTimeAsync(3000);
+    });
+    expect(fetchMock).toHaveBeenCalledTimes(1);
+  });
+
+  it("does not fetch while inactive", async () => {
+    renderHook(() => useLiveKitLatency(false));
+    await act(async () => {
+      await vi.advanceTimersByTimeAsync(3000);
+    });
+    expect(fetchMock).not.toHaveBeenCalled();
+  });
+});
diff --git a/examples/egocap/tests/backend/test_livekit_latency.py b/examples/egocap/tests/backend/test_livekit_latency.py
new file mode 100644
index 0000000000..27a1c7452e
--- /dev/null
+++ b/examples/egocap/tests/backend/test_livekit_latency.py
@@ -0,0 +1,195 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""summarize, LiveKitLatencyProbe against a fake frame receiver, and GET /api/livekit-latency."""
+
+from __future__ import annotations
+
+import asyncio
+from types import SimpleNamespace
+
+import pytest
+from fastapi import FastAPI
+from fastapi.testclient import TestClient
+
+from capture_server import protocol as p
+from egocap_web import livekit_latency as ll
+from egocap_web.livekit_latency import LiveKitLatencyProbe, summarize
+
+UNIX = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+MONO = p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US
+STAMP_US = 1_000_000
+NOW_US = 1_050_000
+S = 1_000_000_000
+
+
+def livekit_stream(stream_id: int, *, basis=UNIX, room="room-a"):
+    return p.LiveKitCameraStream(
+        stream_id=stream_id,
+        name=f"cam{stream_id}",
+        url="wss://lk",
+        room=room,
+        publisher="o",
+        track=f"t{stream_id}",
+        timestamp_basis=basis,
+        width=6,
+        height=4,
+        fps=30.0,
+    )
+
+
+class FakeReceiver:
+    instances: list[FakeReceiver] = []
+
+    def __init__(self, streams, token, **kwargs):
+        self.streams = list(streams)
+        self.queues = {s.stream_id: asyncio.Queue() for s in streams}
+        self.failed = asyncio.Event()
+        self.stops = 0
+        FakeReceiver.instances.append(self)
+
+    async def start(self):
+        pass
+
+    async def stop(self):
+        self.stops += 1
+
+    async def next_frame_or_lost(self, stream_id):
+        return await self.queues[stream_id].get()
+
+
+@pytest.fixture(autouse=True)
+def fake_receiver(monkeypatch):
+    FakeReceiver.instances = []
+    monkeypatch.setattr(ll, "LiveKitFrameReceiver", FakeReceiver)
+
+
+def frame(stamp_us=STAMP_US):
+    return SimpleNamespace(user_timestamp_us=stamp_us)
+
+
+async def settle():
+    for _ in range(5):
+        await asyncio.sleep(0)
+
+
+def make_probe(streams, clock):
+    return LiveKitLatencyProbe(
+        lambda: streams, lambda room: "tok", clock_ns=lambda: clock[0], unix_ns=lambda: NOW_US * 1000
+    )
+
+
+async def feed(probe, stream_id, *stamps):
+    for stamp in stamps:
+        FakeReceiver.instances[-1].queues[stream_id].put_nowait(frame(stamp))
+    await settle()
+
+
+# --- summarize -------------------------------------------------------------------
+
+
+def test_summarize_empty_is_none():
+    assert summarize([]) is None
+
+
+def test_summarize_median_p95_and_count():
+    samples = [float(v) for v in range(100, 0, -1)]
+    assert summarize(samples) == {"median_ms": 51.0, "p95_ms": 96.0, "samples": 100}
+
+
+# --- probe -----------------------------------------------------------------------
+
+
+async def test_sample_is_unix_now_minus_stamp_in_ms():
+    clock = [10 * S]
+    probe = make_probe([livekit_stream(1)], clock)
+    try:
+        await probe.snapshot()
+        await feed(probe, 1, STAMP_US)
+        out = await probe.snapshot()
+        assert out["cam1"]["summary"] == {"median_ms": 50.0, "p95_ms": 50.0, "samples": 1}
+        assert out["cam1"]["note"] == ""
+        assert len(FakeReceiver.instances) == 1
+    finally:
+        await probe.stop()
+
+
+async def test_implausible_dropped_and_small_negative_kept():
+    clock = [10 * S]
+    probe = make_probe([livekit_stream(1)], clock)
+    try:
+        await probe.snapshot()
+        await feed(probe, 1, NOW_US + 2_000_000, NOW_US - 61_000_000, NOW_US + 5_000, None)
+        out = await probe.snapshot()
+        assert out["cam1"]["summary"] == {"median_ms": -5.0, "p95_ms": -5.0, "samples": 1}
+    finally:
+        await probe.stop()
+
+
+async def test_monotonic_stream_has_note_and_no_summary():
+    clock = [10 * S]
+    probe = make_probe([livekit_stream(1, basis=MONO)], clock)
+    try:
+        await probe.snapshot()
+        await feed(probe, 1, STAMP_US)
+        out = await probe.snapshot()
+        assert out["cam1"]["summary"] is None
+        assert "monotonic" in out["cam1"]["note"]
+    finally:
+        await probe.stop()
+
+
+async def test_no_samples_reports_note_and_old_samples_age_out():
+    clock = [10 * S]
+    probe = make_probe([livekit_stream(1)], clock)
+    try:
+        out = await probe.snapshot()
+        assert out["cam1"]["summary"] is None
+        assert out["cam1"]["note"] == "no frames received recently"
+        await feed(probe, 1, STAMP_US)
+        assert (await probe.snapshot())["cam1"]["summary"]["samples"] == 1
+        clock[0] += int((ll.WINDOW_S + 0.5) * S)
+        out = await probe.snapshot()
+        assert out["cam1"]["summary"] is None
+        assert out["cam1"]["note"] == "no frames received recently"
+    finally:
+        await probe.stop()
+
+
+async def test_restarts_when_offered_streams_change_or_receiver_failed():
+    clock = [10 * S]
+    streams = [livekit_stream(1)]
+    probe = make_probe(streams, clock)
+    try:
+        await probe.snapshot()
+        await probe.snapshot()
+        assert len(FakeReceiver.instances) == 1
+        streams.append(livekit_stream(2))
+        out = await probe.snapshot()
+        assert len(FakeReceiver.instances) == 2
+        assert FakeReceiver.instances[0].stops == 1
+        assert set(out) == {"cam1", "cam2"}
+        FakeReceiver.instances[1].failed.set()
+        await probe.snapshot()
+        assert len(FakeReceiver.instances) == 3
+        assert FakeReceiver.instances[1].stops == 1
+    finally:
+        await probe.stop()
+
+
+# --- route -----------------------------------------------------------------------
+
+
+def test_route_returns_probe_snapshot():
+    class StubProbe:
+        async def snapshot(self):
+            return {"cam1": {"basis": "X", "summary": None, "note": "n"}}
+
+    app = FastAPI()
+    app.include_router(ll.router)
+    app.state.livekit_latency = StubProbe()
+    response = TestClient(app).get("/api/livekit-latency")
+    assert response.status_code == 200
+    assert response.headers["cache-control"] == "no-store"
+    assert response.json() == {"streams": {"cam1": {"basis": "X", "summary": None, "note": "n"}}}

From 55395b426285b87e6422da37684e171a0c59d4a5 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:43:20 -0800
Subject: [PATCH 16/54] egocap: reset the FPS window on tab visibility changes

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/frontend/src/LiveKitCameraTile.tsx | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 4f16c37d93..9865a71813 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -161,9 +161,21 @@ export function LiveKitCameraTile({
         if (fps !== null) setFpsLabel(`${fps.toFixed(1)} FPS`);
       }
     }, FPS_WINDOW_MS);
+    // The timer can be throttled or suspended while the tab is hidden, so the transition itself resets the window:
+    // paused on hide, and a fresh baseline (no figure) for the first window after it returns.
+    const onVisibility = (): void => {
+      baselineRef.current = null;
+      latencySamplesRef.current = [];
+      if (document.hidden) {
+        setFpsLabel("paused");
+        setLatencyLabel(null);
+      }
+    };
+    document.addEventListener("visibilitychange", onVisibility);
     return () => {
       stopped = true;
       clearInterval(timer);
+      document.removeEventListener("visibilitychange", onVisibility);
       if (callbackId !== null) element.cancelVideoFrameCallback(callbackId);
       element.removeEventListener("timeupdate", markFrame);
     };

From c56fcb9b87a4e695f9ee48dd5d62d49fb97abb22 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:44:26 -0800
Subject: [PATCH 17/54] egocap: tests for the tab visibility reset of the FPS
 window

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/LiveKitCameraTile.test.tsx   | 52 +++++++++++++++++++
 1 file changed, 52 insertions(+)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index f0d227c4a2..3eb31b825f 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -195,6 +195,58 @@ describe("LiveKitCameraTile FPS label", () => {
     }
   });
 
+  describe("visibility changes", () => {
+    const setHidden = (hidden: boolean): void => {
+      Object.defineProperty(document, "hidden", { configurable: true, value: hidden });
+      act(() => {
+        document.dispatchEvent(new Event("visibilitychange"));
+      });
+    };
+    afterEach(() => {
+      delete (document as any).hidden;
+    });
+
+    it("shows paused at once when the tab is hidden, without waiting for the timer", () => {
+      renderTile();
+      presentFrame();
+      setHidden(true);
+      expect(document.querySelector(".camera-stats")?.textContent).toBe("paused");
+    });
+
+    it("starts a fresh FPS baseline after the tab returns", () => {
+      renderTile();
+      presentFrame(0);
+      act(() => {
+        vi.advanceTimersByTime(1000);
+      });
+      presentFrame(30);
+      act(() => {
+        vi.advanceTimersByTime(1000);
+      });
+      expect(document.querySelector(".camera-stats")?.textContent).toBe("30.0 FPS");
+      setHidden(true);
+      presentFrame(300); // frames presented while hidden must not inflate the first visible window
+      setHidden(false);
+      act(() => {
+        vi.advanceTimersByTime(1000);
+      });
+      expect(document.body.textContent).not.toMatch(/\d FPS/);
+      presentFrame(30);
+      act(() => {
+        vi.advanceTimersByTime(1000);
+      });
+      expect(document.querySelector(".camera-stats")?.textContent).toBe("30.0 FPS");
+    });
+
+    it("removes the visibilitychange listener on unmount", () => {
+      const remove = vi.spyOn(document, "removeEventListener");
+      const { unmount } = renderTile();
+      unmount();
+      expect(remove).toHaveBeenCalledWith("visibilitychange", expect.any(Function));
+      remove.mockRestore();
+    });
+  });
+
   it("shows FPS unavailable without requestVideoFrameCallback", () => {
     delete (HTMLVideoElement.prototype as any).requestVideoFrameCallback;
     renderTile();

From 1da52df4a4a77af7a66f2570e1734e6ea7f75708 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:45:29 -0800
Subject: [PATCH 18/54] egocap: remove the latency figures until a qualified
 path exists

The browser's captureTime figure and the backend's publisher-stamp-to-receipt
probe (route, hook, tests) are removed: neither is tied to the exact displayed
frame through the approved clock mapping. The tile shows 'latency unavailable'
beside its FPS label.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/backend/egocap_web/app.py     |   6 -
 .../backend/egocap_web/livekit_latency.py     | 176 ----------------
 examples/egocap/frontend/src/CameraGrid.tsx   |   3 -
 .../frontend/src/LiveKitCameraTile.test.tsx   | 136 ++++--------
 .../egocap/frontend/src/LiveKitCameraTile.tsx |  66 +-----
 .../egocap/frontend/src/livekitPreview.ts     |  15 --
 .../frontend/src/useLiveKitLatency.test.ts    |  70 -------
 .../egocap/frontend/src/useLiveKitLatency.ts  |  44 ----
 .../tests/backend/test_livekit_latency.py     | 195 ------------------
 9 files changed, 50 insertions(+), 661 deletions(-)
 delete mode 100644 examples/egocap/backend/egocap_web/livekit_latency.py
 delete mode 100644 examples/egocap/frontend/src/useLiveKitLatency.test.ts
 delete mode 100644 examples/egocap/frontend/src/useLiveKitLatency.ts
 delete mode 100644 examples/egocap/tests/backend/test_livekit_latency.py

diff --git a/examples/egocap/backend/egocap_web/app.py b/examples/egocap/backend/egocap_web/app.py
index d3f21561c3..8bc19537e4 100644
--- a/examples/egocap/backend/egocap_web/app.py
+++ b/examples/egocap/backend/egocap_web/app.py
@@ -408,10 +408,6 @@ async def lifespan(app: FastAPI) -> AsyncIterator[None]:
     monitor.set_recording(coordinator)
     await monitor.start()
     app.state.monitor = monitor
-    app.state.livekit_latency = LiveKitLatencyProbe(
-        lambda: [s for s in (monitor.native.started.streams if monitor.native.started else ())],
-        _recorder_livekit_token,
-    )
     # Generated once per backend process start (a restart is the only way
     # to issue a new one) and printed here -- this console line is the
     # distribution mechanism, which the operator reads off the machine
@@ -449,7 +445,6 @@ async def lifespan(app: FastAPI) -> AsyncIterator[None]:
         yield
     finally:
         try:
-            await app.state.livekit_latency.stop()
             if visualization is not None:
                 await visualization.stop()
         finally:
@@ -478,7 +473,6 @@ def _optional_visualization(
 app = FastAPI(lifespan=lifespan)
 app.include_router(preview_router)
 app.include_router(livekit_preview_router)
-app.include_router(livekit_latency_router)
 app.include_router(task_file_router)
 app.include_router(settings_router)
 app.include_router(operator_settings_router)
diff --git a/examples/egocap/backend/egocap_web/livekit_latency.py b/examples/egocap/backend/egocap_web/livekit_latency.py
deleted file mode 100644
index 80c79e73c5..0000000000
--- a/examples/egocap/backend/egocap_web/livekit_latency.py
+++ /dev/null
@@ -1,176 +0,0 @@
-# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-#
-# SPDX-License-Identifier: Apache-2.0
-
-"""Publisher-stamp-to-receipt delay of the offered LiveKit streams, measured by the backend's own subscription.
-
-The browser's video element does not receive our per-frame metadata, so its page cannot compute this delay. The
-backend can: its receiver sees every frame's publisher timestamp (``user_timestamp_us``) when it arrives. This is
-one-way delay from the publisher's stamp to this process taking the frame from the SDK, for a Unix-time stamp; it
-includes the publisher's clock offset from this host, so it is exact only as far as the two clocks agree, and it
-leaves out the browser's own decode and render time. A monotonic stamp cannot be subtracted from this host's clock
-and reports no delay.
-
-The subscription is started by the first request and stopped after a short idle time, because it decodes every
-frame. It is for preview, not recording.
-"""
-
-from __future__ import annotations
-
-import asyncio
-import contextlib
-import logging
-import time
-from collections import deque
-from collections.abc import Callable, Sequence
-
-from fastapi import APIRouter, Request
-from fastapi.responses import JSONResponse
-
-from capture_server import protocol as p
-
-from .livekit_receiver import LiveKitFrameReceiver
-
-logger = logging.getLogger("isaaccapture.egocap.livekit_latency")
-
-#: How long a subscription runs without anyone asking for its numbers before it is shut down.
-IDLE_STOP_S = 15.0
-#: Only samples from the last few seconds are summarized, so a stalled stream does not keep an old number.
-WINDOW_S = 3.0
-_MAX_SAMPLES = 600
-#: A delay outside this range (a stamp from a different clock domain) is dropped, not averaged. A small negative
-#: delay is kept: it means the publisher's clock is ahead by more than the true delay, which is a finding.
-_MIN_PLAUSIBLE_MS = -1_000.0
-_MAX_PLAUSIBLE_MS = 60_000.0
-
-
-def summarize(samples_ms: Sequence[float]) -> dict[str, float | int] | None:
-    """Median, 95th percentile and count of the samples, or None when there are none."""
-    if not samples_ms:
-        return None
-    ordered = sorted(samples_ms)
-
-    def at(q: float) -> float:
-        return ordered[min(len(ordered) - 1, int(q * len(ordered)))]
-
-    return {"median_ms": round(at(0.5), 1), "p95_ms": round(at(0.95), 1), "samples": len(ordered)}
-
-
-class LiveKitLatencyProbe:
-    """Starts on demand, measures each offered stream's stamp-to-receipt delay, and stops when idle."""
-
-    def __init__(
-        self,
-        streams: Callable[[], Sequence[p.LiveKitCameraStream]],
-        make_token: Callable[[str], str],
-        *,
-        clock_ns: Callable[[], int] = time.monotonic_ns,
-        unix_ns: Callable[[], int] = time.time_ns,
-    ) -> None:
-        self._streams = streams
-        self._make_token = make_token
-        self._clock_ns = clock_ns
-        self._unix_ns = unix_ns
-        self._key: tuple[tuple[str, str, str], ...] | None = None
-        self._receiver: LiveKitFrameReceiver | None = None
-        self._tasks: list[asyncio.Task[None]] = []
-        self._samples: dict[str, deque[tuple[int, float]]] = {}
-        self._basis: dict[str, str] = {}
-        self._last_request_ns = 0
-        self._lock = asyncio.Lock()
-
-    async def snapshot(self) -> dict[str, dict[str, object]]:
-        """Per-stream delay summary for the last few seconds by stream name; starts the subscription if needed.
-
-        A stream with no recent sample reports ``None`` for its summary, with the reason in ``note``.
-        """
-        self._last_request_ns = self._clock_ns()
-        offered = [s for s in self._streams() if isinstance(s, p.LiveKitCameraStream)]
-        async with self._lock:
-            await self._ensure(offered)
-        now = self._clock_ns()
-        out: dict[str, dict[str, object]] = {}
-        for stream in offered:
-            recent = [ms for at, ms in self._samples.get(stream.name, ()) if now - at <= WINDOW_S * 1e9]
-            basis = stream.timestamp_basis.name
-            if stream.timestamp_basis is p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US:
-                note = "a monotonic publisher stamp cannot be compared with this host's clock"
-            elif not recent:
-                note = "no frames received recently"
-            else:
-                note = ""
-            out[stream.name] = {"basis": basis, "summary": summarize(recent), "note": note}
-        return out
-
-    async def stop(self) -> None:
-        async with self._lock:
-            await self._stop_locked()
-
-    async def _ensure(self, offered: Sequence[p.LiveKitCameraStream]) -> None:
-        key = tuple(sorted((s.url, s.room, s.track) for s in offered))
-        failed = self._receiver is not None and self._receiver.failed.is_set()
-        if self._receiver is not None and key == self._key and not failed:
-            return
-        await self._stop_locked()
-        if not offered:
-            return
-        self._key = key
-        self._samples = {s.name: deque(maxlen=_MAX_SAMPLES) for s in offered}
-        receiver = LiveKitFrameReceiver(offered, self._make_token(offered[0].room), queue_frames=2)
-        try:
-            await receiver.start()
-        except Exception:
-            logger.exception("LiveKit latency subscription failed to start")
-            await receiver.stop()
-            self._key = None
-            return
-        self._receiver = receiver
-        self._tasks = [asyncio.get_running_loop().create_task(self._run(receiver, s)) for s in offered]
-        self._tasks.append(asyncio.get_running_loop().create_task(self._stop_when_idle()))
-
-    async def _stop_locked(self) -> None:
-        tasks, receiver = self._tasks, self._receiver
-        self._tasks, self._receiver, self._key = [], None, None
-        current = asyncio.current_task()
-        for task in tasks:
-            if task is not current:
-                task.cancel()
-        for task in tasks:
-            if task is not current:
-                with contextlib.suppress(asyncio.CancelledError):
-                    await task
-        if receiver is not None:
-            await receiver.stop()
-
-    async def _stop_when_idle(self) -> None:
-        while True:
-            await asyncio.sleep(IDLE_STOP_S / 3)
-            if self._clock_ns() - self._last_request_ns > IDLE_STOP_S * 1e9:
-                logger.info("LiveKit latency subscription idle; stopping")
-                asyncio.get_running_loop().create_task(self.stop())
-                return
-
-    async def _run(self, receiver: LiveKitFrameReceiver, stream: p.LiveKitCameraStream) -> None:
-        """Record the stamp-to-receipt delay of every frame of one stream."""
-        unix_basis = stream.timestamp_basis is not p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US
-        samples = self._samples[stream.name]
-        while True:
-            frame = await receiver.next_frame_or_lost(stream.stream_id)
-            if frame is None:
-                await asyncio.sleep(0.5)  # the track is gone; wait for it to come back
-                continue
-            if not unix_basis or frame.user_timestamp_us is None:
-                continue
-            delay_ms = (self._unix_ns() / 1000 - frame.user_timestamp_us) / 1000
-            if _MIN_PLAUSIBLE_MS <= delay_ms <= _MAX_PLAUSIBLE_MS:
-                samples.append((self._clock_ns(), delay_ms))
-
-
-router = APIRouter()
-
-
-@router.get("/api/livekit-latency")
-async def get_livekit_latency(request: Request) -> JSONResponse:
-    """Stamp-to-receipt delay of each offered LiveKit stream, from the backend's own subscription."""
-    probe: LiveKitLatencyProbe = request.app.state.livekit_latency
-    return JSONResponse({"streams": await probe.snapshot()}, headers={"Cache-Control": "no-store"})
diff --git a/examples/egocap/frontend/src/CameraGrid.tsx b/examples/egocap/frontend/src/CameraGrid.tsx
index a1f393bd62..e79a257e5e 100644
--- a/examples/egocap/frontend/src/CameraGrid.tsx
+++ b/examples/egocap/frontend/src/CameraGrid.tsx
@@ -17,7 +17,6 @@ import { CameraRateTracker, formatCameraStats } from "./cameraRates";
 import { ROLE_LABELS } from "./settingsApi";
 import { roleOfCamera } from "./useOperatorSettings";
 import { LiveKitCameraTile } from "./LiveKitCameraTile";
-import { useLiveKitLatency } from "./useLiveKitLatency";
 import { useLiveKitPreview } from "./useLiveKitPreview";
 
 const CAMERA_ERROR_RETRY_LIMIT = 3;
@@ -191,7 +190,6 @@ export function CameraGrid({
 
   // Direct LiveKit tiles sit beside the CaptureServer ones; they have their own connection and readiness.
   const livekit = useLiveKitPreview(liveKitStreams(snapshot?.started));
-  const pcLatency = useLiveKitLatency(livekit.tiles.length > 0);
   const cameras = snapshot?.cameras ?? [];
   const livekitShown = livekit.tiles.length > 0 || livekit.phase === "error";
   if (cameras.length === 0 && !livekitShown) {
@@ -267,7 +265,6 @@ export function CameraGrid({
             name={tile.name}
             track={tile.track}
             phase={livekit.phase}
-            pcLatency={pcLatency[tile.name] ?? null}
             // A LiveKit tile is a main view only when no CaptureServer camera claims that place: every head
             // camera when there are several, otherwise the first tile.
             primary={liveKitOnly && (equalHeads ? isHeadTile(tile.name) : index === 0)}
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index 3eb31b825f..8b1156cb95 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -4,7 +4,7 @@
 
 import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
 import { act, cleanup, render, screen } from "@testing-library/react";
-import { LiveKitCameraTile, displayedFps, latencySummary } from "./LiveKitCameraTile";
+import { LiveKitCameraTile, displayedFps } from "./LiveKitCameraTile";
 import { fakeTrack } from "./livekitTestDoubles";
 
 type FrameMetadata = { presentedFrames: number; captureTime?: number; expectedDisplayTime?: number };
@@ -153,6 +153,9 @@ describe("displayedFps", () => {
   });
 });
 
+const statsTexts = (): string[] =>
+  Array.from(document.querySelectorAll(".camera-stats")).map((e) => e.textContent ?? "");
+
 describe("LiveKitCameraTile FPS label", () => {
   function renderTile() {
     return render(<LiveKitCameraTile name="Head" track={fakeTrack()} phase="connected" primary={false} />);
@@ -169,7 +172,7 @@ describe("LiveKitCameraTile FPS label", () => {
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(document.querySelector(".camera-stats")?.textContent).toBe("30.0 FPS");
+    expect(statsTexts()[0]).toBe("30.0 FPS");
   });
 
   it("shows 0 FPS when no frame arrives for more than three seconds", () => {
@@ -178,7 +181,7 @@ describe("LiveKitCameraTile FPS label", () => {
     act(() => {
       vi.advanceTimersByTime(5000);
     });
-    expect(document.querySelector(".camera-stats")?.textContent).toBe("0 FPS");
+    expect(statsTexts()[0]).toBe("0 FPS");
   });
 
   it("shows paused while the document is hidden", () => {
@@ -189,7 +192,7 @@ describe("LiveKitCameraTile FPS label", () => {
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(document.querySelector(".camera-stats")?.textContent).toBe("paused");
+      expect(statsTexts()[0]).toBe("paused");
     } finally {
       delete (document as any).hidden;
     }
@@ -210,7 +213,7 @@ describe("LiveKitCameraTile FPS label", () => {
       renderTile();
       presentFrame();
       setHidden(true);
-      expect(document.querySelector(".camera-stats")?.textContent).toBe("paused");
+      expect(statsTexts()[0]).toBe("paused");
     });
 
     it("starts a fresh FPS baseline after the tab returns", () => {
@@ -223,7 +226,7 @@ describe("LiveKitCameraTile FPS label", () => {
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(document.querySelector(".camera-stats")?.textContent).toBe("30.0 FPS");
+      expect(statsTexts()[0]).toBe("30.0 FPS");
       setHidden(true);
       presentFrame(300); // frames presented while hidden must not inflate the first visible window
       setHidden(false);
@@ -235,7 +238,7 @@ describe("LiveKitCameraTile FPS label", () => {
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(document.querySelector(".camera-stats")?.textContent).toBe("30.0 FPS");
+      expect(statsTexts()[0]).toBe("30.0 FPS");
     });
 
     it("removes the visibilitychange listener on unmount", () => {
@@ -253,121 +256,70 @@ describe("LiveKitCameraTile FPS label", () => {
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(document.querySelector(".camera-stats")?.textContent).toBe("FPS unavailable");
+    expect(statsTexts()[0]).toBe("FPS unavailable");
   });
 });
 
-describe("latencySummary", () => {
-  it("is null for no samples", () => {
-    expect(latencySummary([])).toBeNull();
-  });
-
-  it("takes the median of a small set", () => {
-    expect(latencySummary([30, 10, 20])?.median).toBe(20);
-  });
-
-  it("puts p95 within the top 5 of 100 samples", () => {
-    const samples = Array.from({ length: 100 }, (_, i) => i + 1);
-    expect(latencySummary(samples)!.p95).toBeGreaterThanOrEqual(96);
-  });
-});
-
-describe("LiveKitCameraTile latency label", () => {
+describe("LiveKitCameraTile latency", () => {
   function renderTile() {
     return render(<LiveKitCameraTile name="Head" track={fakeTrack()} phase="connected" primary={false} />);
   }
-  const statsTexts = (): string[] => Array.from(document.querySelectorAll(".camera-stats")).map((e) => e.textContent ?? "");
-
-  it("shows median and p95 of expectedDisplayTime - captureTime after a window", () => {
-    renderTile();
-    for (let i = 0; i < 3; i++) presentFrame(1, { captureTime: 1000 + i, expectedDisplayTime: 1070 + i });
-    act(() => {
-      vi.advanceTimersByTime(1000);
-    });
-    expect(statsTexts()).toContain("70 ms (p95 70)");
-  });
 
-  it("shows latency unavailable when frames carry no captureTime", () => {
+  it("shows one FPS span plus the fixed latency span, with an explanatory title", () => {
     renderTile();
     presentFrame(1);
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(statsTexts()).toContain("latency unavailable");
-  });
-
-  it("shows no latency label for a stale stream", () => {
-    renderTile();
-    presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1070 });
+    presentFrame(30);
     act(() => {
-      vi.advanceTimersByTime(5000);
+      vi.advanceTimersByTime(1000);
     });
-    expect(statsTexts()).toEqual(["0 FPS"]);
+    const spans = document.querySelectorAll(".camera-stats");
+    expect(spans).toHaveLength(2);
+    expect(spans[1].textContent).toBe("latency unavailable");
+    expect(spans[1].getAttribute("title")).toBeTruthy();
   });
 
-  it("ignores negative and non-finite latency samples", () => {
+  it("does not use the browser's captureTime and expectedDisplayTime", () => {
     renderTile();
-    presentFrame(1, { captureTime: 1100, expectedDisplayTime: 1000 });
-    presentFrame(1, { captureTime: 1000, expectedDisplayTime: NaN });
-    presentFrame(1, { captureTime: 1000, expectedDisplayTime: Infinity });
+    for (let i = 0; i < 3; i++) presentFrame(1, { captureTime: 1000 + i, expectedDisplayTime: 1070 + i });
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(statsTexts()).toContain("latency unavailable");
-    presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1040 });
-    presentFrame(1, { captureTime: 1100, expectedDisplayTime: 1000 });
+    presentFrame(30, { captureTime: 2000, expectedDisplayTime: 2070 });
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(statsTexts()).toContain("40 ms (p95 40)");
+    expect(statsTexts()).toContain("latency unavailable");
+    expect(statsTexts().some((t) => /\bms\b/.test(t))).toBe(false);
   });
-});
 
-describe("LiveKitCameraTile backend latency", () => {
-  const PC = {
-    basis: "SENSOR_CAPTURE_UNIX_US",
-    summary: { median_ms: 52.4, p95_ms: 80.6, samples: 30 },
-    note: "",
-  };
-  const statsTexts = (): string[] =>
-    Array.from(document.querySelectorAll(".camera-stats")).map(
-      (e) => e.textContent ?? "",
-    );
-  const tile = () => (
-    <LiveKitCameraTile
-      name="Head"
-      track={fakeTrack()}
-      phase="connected"
-      primary={false}
-      pcLatency={PC}
-    />
-  );
-
-  it("shows the backend figure when the browser has no latency", () => {
-    render(tile());
-    presentFrame(1);
+  it("keeps the fixed latency span beside 0 FPS for a stale stream", () => {
+    renderTile();
+    presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1070 });
     act(() => {
-      vi.advanceTimersByTime(1000);
+      vi.advanceTimersByTime(5000);
     });
-    expect(statsTexts()).toContain("52 ms (p95 81) to PC");
+    expect(statsTexts()).toEqual(["0 FPS", "latency unavailable"]);
   });
 
-  it("prefers the browser's own figure", () => {
-    render(tile());
-    presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1070 });
-    act(() => {
-      vi.advanceTimersByTime(1000);
-    });
-    expect(statsTexts()).toContain("70 ms (p95 70)");
-    expect(statsTexts().some((t) => t.includes("to PC"))).toBe(false);
+  it("keeps the fixed latency span beside paused while the document is hidden", () => {
+    Object.defineProperty(document, "hidden", { configurable: true, value: true });
+    try {
+      renderTile();
+      presentFrame(1);
+      act(() => {
+        vi.advanceTimersByTime(1000);
+      });
+      expect(statsTexts()).toEqual(["paused", "latency unavailable"]);
+    } finally {
+      delete (document as any).hidden;
+    }
   });
 
-  it("shows nothing about latency for a stale stream", () => {
-    render(tile());
-    presentFrame(1);
-    act(() => {
-      vi.advanceTimersByTime(5000);
-    });
-    expect(statsTexts()).toEqual(["0 FPS"]);
+  it("shows no latency text before any FPS label", () => {
+    renderTile();
+    expect(document.body.textContent).not.toMatch(/latency/);
   });
 });
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 9865a71813..878aa4ec2f 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -12,7 +12,6 @@
 
 import { useEffect, useRef, useState } from "react";
 import type { RemoteTrack } from "livekit-client";
-import type { LiveKitLatencyEntry } from "./livekitPreview";
 import type { LiveKitPhase } from "./useLiveKitPreview";
 
 /** No decoded frame for this long means the picture is frozen. */
@@ -21,17 +20,6 @@ const FRAME_STALE_AFTER_MS = 3000;
 /** Seconds-long windows keep the rate readable and the state updates to once per second. */
 const FPS_WINDOW_MS = 1000;
 
-/** Most recent latency samples kept per window; one per presented frame at typical rates fits comfortably. */
-const MAX_LATENCY_SAMPLES = 240;
-
-/** Median and 95th percentile of a window's latency samples in ms, or null when there are none. */
-export function latencySummary(samples: number[]): { median: number; p95: number } | null {
-  if (samples.length === 0) return null;
-  const sorted = [...samples].sort((a, b) => a - b);
-  const at = (q: number): number => sorted[Math.min(sorted.length - 1, Math.floor(q * sorted.length))];
-  return { median: at(0.5), p95: at(0.95) };
-}
-
 /** The displayed rate for one window from cumulative presented-frame counts; null for an invalid interval. */
 export function displayedFps(previous: { presented: number; at: number }, presented: number, at: number): number | null {
   const elapsedMs = at - previous.at;
@@ -55,24 +43,18 @@ export function LiveKitCameraTile({
   track,
   phase,
   primary,
-  pcLatency = null,
 }: {
   name: string;
   track: RemoteTrack | null;
   phase: LiveKitPhase;
   primary: boolean;
-  /** The backend's measured publisher-stamp-to-receipt delay for this stream, used when the browser has none. */
-  pcLatency?: LiveKitLatencyEntry | null;
 }) {
   const videoRef = useRef<HTMLVideoElement | null>(null);
   const lastFrameAtRef = useRef<number | null>(null);
   // Cumulative presented-frame count of the newest frame callback, and the count at the start of the window.
   const presentedRef = useRef<number | null>(null);
   const baselineRef = useRef<{ presented: number; at: number } | null>(null);
-  // Capture-to-expected-display samples (ms) from the browser's own frame metadata, for the current window.
-  const latencySamplesRef = useRef<number[]>([]);
   const [fpsLabel, setFpsLabel] = useState<string | null>(null);
-  const [latencyLabel, setLatencyLabel] = useState<string | null>(null);
   const [hasFrame, setHasFrame] = useState(false);
   const [stale, setStale] = useState(false);
 
@@ -82,9 +64,7 @@ export function LiveKitCameraTile({
     lastFrameAtRef.current = null;
     presentedRef.current = null;
     baselineRef.current = null;
-    latencySamplesRef.current = [];
     setFpsLabel(null);
-    setLatencyLabel(null);
     setHasFrame(false);
     setStale(false);
     if (element === null || track === null) return;
@@ -109,17 +89,6 @@ export function LiveKitCameraTile({
       if (stopped) return;
       callbackId = element.requestVideoFrameCallback((_now, metadata) => {
         presentedRef.current = metadata.presentedFrames;
-        // Only when the browser gives this frame a capture time (WebRTC video, in the same time origin as the
-        // expected display time): the sender's capture event as the browser maps it, not a measurement of ours.
-        const capture = metadata.captureTime;
-        if (typeof capture === "number") {
-          const latency = metadata.expectedDisplayTime - capture;
-          if (Number.isFinite(latency) && latency >= 0) {
-            const samples = latencySamplesRef.current;
-            samples.push(latency);
-            if (samples.length > MAX_LATENCY_SAMPLES) samples.shift();
-          }
-        }
         markFrame();
         watchFrames();
       });
@@ -135,26 +104,15 @@ export function LiveKitCameraTile({
       if (isStale) setStale(true);
       // Displayed rate: the change in the browser's own presented-frame count over the window, not a callback tally.
       const presented = presentedRef.current;
-      // The window's latency samples are summarized once and cleared, so a stalled stream never keeps an old number.
-      const summary = latencySummary(latencySamplesRef.current);
-      latencySamplesRef.current = [];
       if (!hasFrameCallback) {
         setFpsLabel("FPS unavailable");
-        setLatencyLabel("latency unavailable");
       } else if (document.hidden) {
         baselineRef.current = null; // a hidden tab's scheduling is not comparable: restart after it returns
         setFpsLabel("paused");
-        setLatencyLabel(null);
       } else if (isStale) {
         baselineRef.current = null;
         setFpsLabel("0 FPS");
-        setLatencyLabel(null);
       } else if (presented !== null) {
-        setLatencyLabel(
-          summary === null
-            ? "latency unavailable"
-            : `${summary.median.toFixed(0)} ms (p95 ${summary.p95.toFixed(0)})`,
-        );
         const previous = baselineRef.current;
         baselineRef.current = { presented, at: now };
         const fps = previous === null ? null : displayedFps(previous, presented, now);
@@ -165,10 +123,8 @@ export function LiveKitCameraTile({
     // paused on hide, and a fresh baseline (no figure) for the first window after it returns.
     const onVisibility = (): void => {
       baselineRef.current = null;
-      latencySamplesRef.current = [];
       if (document.hidden) {
         setFpsLabel("paused");
-        setLatencyLabel(null);
       }
     };
     document.addEventListener("visibilitychange", onVisibility);
@@ -181,19 +137,6 @@ export function LiveKitCameraTile({
     };
   }, [track]);
 
-  // The browser's own capture-to-display figure when it has one; otherwise the backend's stamp-to-receipt delay.
-  const browserHasLatency = latencyLabel !== null && latencyLabel !== "latency unavailable";
-  const pcSummary = pcLatency?.summary ?? null;
-  const latencyText = browserHasLatency
-    ? latencyLabel
-    : pcSummary !== null
-      ? `${pcSummary.median_ms.toFixed(0)} ms (p95 ${pcSummary.p95_ms.toFixed(0)}) to PC`
-      : (latencyLabel ?? "");
-  const latencyTitle = browserHasLatency
-    ? "Sender capture time to expected display time, as the browser reports it; not a qualified sensor timestamp"
-    : pcSummary !== null
-      ? "Publisher stamp to this PC's backend receiving the frame; includes the publisher's clock offset and excludes browser decode and render"
-      : (pcLatency?.note ?? "No capture time reaches the browser for this stream");
   const placeholder = placeholderFor(phase, track, hasFrame, stale);
   return (
     <figure className={`camera-tile${primary ? " camera-tile--primary" : ""}${stale ? " tone-warning" : ""}`}>
@@ -203,9 +146,12 @@ export function LiveKitCameraTile({
       <figcaption>
         {name}
         {fpsLabel !== null && <span className="camera-stats">{fpsLabel}</span>}
-        {latencyLabel !== null && (
-          <span className="camera-stats" title={latencyTitle}>
-            {latencyText}
+        {fpsLabel !== null && (
+          <span
+            className="camera-stats"
+            title="No qualified capture time is associated with the displayed frame yet, so no latency is shown"
+          >
+            latency unavailable
           </span>
         )}
       </figcaption>
diff --git a/examples/egocap/frontend/src/livekitPreview.ts b/examples/egocap/frontend/src/livekitPreview.ts
index 019ed1916d..cad54e38c5 100644
--- a/examples/egocap/frontend/src/livekitPreview.ts
+++ b/examples/egocap/frontend/src/livekitPreview.ts
@@ -35,18 +35,3 @@ export async function fetchLiveKitToken(room: string, signal?: AbortSignal): Pro
   }
   return body.token;
 }
-
-/** The backend's measured delay from a stream's publisher stamp to its own receipt, per stream name. */
-export interface LiveKitLatencyEntry {
-  basis: string;
-  summary: { median_ms: number; p95_ms: number; samples: number } | null;
-  note: string;
-}
-
-/** Fetches the backend-side stamp-to-receipt delay of the offered LiveKit streams. */
-export async function fetchLiveKitLatency(signal?: AbortSignal): Promise<Record<string, LiveKitLatencyEntry>> {
-  const response = await fetch("/api/livekit-latency", { signal });
-  if (!response.ok) return {};
-  const body = (await response.json()) as { streams?: Record<string, LiveKitLatencyEntry> };
-  return body.streams ?? {};
-}
diff --git a/examples/egocap/frontend/src/useLiveKitLatency.test.ts b/examples/egocap/frontend/src/useLiveKitLatency.test.ts
deleted file mode 100644
index d97164aaf7..0000000000
--- a/examples/egocap/frontend/src/useLiveKitLatency.test.ts
+++ /dev/null
@@ -1,70 +0,0 @@
-// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-//
-// SPDX-License-Identifier: Apache-2.0
-
-import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
-import { act, cleanup, renderHook } from "@testing-library/react";
-import { useLiveKitLatency } from "./useLiveKitLatency";
-
-const ENTRY = {
-  basis: "SENSOR_CAPTURE_UNIX_US",
-  summary: { median_ms: 50, p95_ms: 60, samples: 3 },
-  note: "",
-};
-let fetchMock: ReturnType<typeof vi.fn>;
-
-beforeEach(() => {
-  vi.useFakeTimers();
-  fetchMock = vi.fn(async () => ({
-    ok: true,
-    json: async () => ({ streams: { Head: ENTRY } }),
-  }));
-  vi.stubGlobal("fetch", fetchMock);
-});
-
-afterEach(() => {
-  cleanup();
-  vi.useRealTimers();
-  vi.unstubAllGlobals();
-});
-
-describe("useLiveKitLatency", () => {
-  it("polls once per second while active and returns the streams", async () => {
-    const { result } = renderHook(() => useLiveKitLatency(true));
-    await act(async () => {
-      await vi.advanceTimersByTimeAsync(0);
-    });
-    expect(fetchMock).toHaveBeenCalledTimes(1);
-    expect(fetchMock.mock.calls[0][0]).toBe("/api/livekit-latency");
-    expect(result.current).toEqual({ Head: ENTRY });
-    await act(async () => {
-      await vi.advanceTimersByTimeAsync(2000);
-    });
-    expect(fetchMock).toHaveBeenCalledTimes(3);
-  });
-
-  it("clears the value and stops polling when it becomes inactive", async () => {
-    const { result, rerender } = renderHook(
-      ({ active }) => useLiveKitLatency(active),
-      { initialProps: { active: true } },
-    );
-    await act(async () => {
-      await vi.advanceTimersByTimeAsync(0);
-    });
-    expect(result.current).toEqual({ Head: ENTRY });
-    rerender({ active: false });
-    expect(result.current).toEqual({});
-    await act(async () => {
-      await vi.advanceTimersByTimeAsync(3000);
-    });
-    expect(fetchMock).toHaveBeenCalledTimes(1);
-  });
-
-  it("does not fetch while inactive", async () => {
-    renderHook(() => useLiveKitLatency(false));
-    await act(async () => {
-      await vi.advanceTimersByTimeAsync(3000);
-    });
-    expect(fetchMock).not.toHaveBeenCalled();
-  });
-});
diff --git a/examples/egocap/frontend/src/useLiveKitLatency.ts b/examples/egocap/frontend/src/useLiveKitLatency.ts
deleted file mode 100644
index 255c18c49d..0000000000
--- a/examples/egocap/frontend/src/useLiveKitLatency.ts
+++ /dev/null
@@ -1,44 +0,0 @@
-// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-//
-// SPDX-License-Identifier: Apache-2.0
-
-/**
- * The backend's measured stamp-to-receipt delay of each LiveKit stream, polled once per second while any LiveKit
- * tile is shown. The first request starts the backend's subscription, which stops by itself when requests stop.
- */
-
-import { useEffect, useState } from "react";
-import { fetchLiveKitLatency } from "./livekitPreview";
-import type { LiveKitLatencyEntry } from "./livekitPreview";
-
-const POLL_INTERVAL_MS = 1000;
-
-export function useLiveKitLatency(active: boolean): Record<string, LiveKitLatencyEntry> {
-  const [latency, setLatency] = useState<Record<string, LiveKitLatencyEntry>>({});
-
-  useEffect(() => {
-    if (!active) {
-      setLatency({});
-      return;
-    }
-    const controller = new AbortController();
-    let cancelled = false;
-    const poll = async (): Promise<void> => {
-      try {
-        const next = await fetchLiveKitLatency(controller.signal);
-        if (!cancelled) setLatency(next);
-      } catch {
-        // The backend is unreachable or the request was aborted: keep the last value until the next poll.
-      }
-    };
-    void poll();
-    const timer = setInterval(() => void poll(), POLL_INTERVAL_MS);
-    return () => {
-      cancelled = true;
-      controller.abort();
-      clearInterval(timer);
-    };
-  }, [active]);
-
-  return latency;
-}
diff --git a/examples/egocap/tests/backend/test_livekit_latency.py b/examples/egocap/tests/backend/test_livekit_latency.py
deleted file mode 100644
index 27a1c7452e..0000000000
--- a/examples/egocap/tests/backend/test_livekit_latency.py
+++ /dev/null
@@ -1,195 +0,0 @@
-# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-#
-# SPDX-License-Identifier: Apache-2.0
-
-"""summarize, LiveKitLatencyProbe against a fake frame receiver, and GET /api/livekit-latency."""
-
-from __future__ import annotations
-
-import asyncio
-from types import SimpleNamespace
-
-import pytest
-from fastapi import FastAPI
-from fastapi.testclient import TestClient
-
-from capture_server import protocol as p
-from egocap_web import livekit_latency as ll
-from egocap_web.livekit_latency import LiveKitLatencyProbe, summarize
-
-UNIX = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
-MONO = p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US
-STAMP_US = 1_000_000
-NOW_US = 1_050_000
-S = 1_000_000_000
-
-
-def livekit_stream(stream_id: int, *, basis=UNIX, room="room-a"):
-    return p.LiveKitCameraStream(
-        stream_id=stream_id,
-        name=f"cam{stream_id}",
-        url="wss://lk",
-        room=room,
-        publisher="o",
-        track=f"t{stream_id}",
-        timestamp_basis=basis,
-        width=6,
-        height=4,
-        fps=30.0,
-    )
-
-
-class FakeReceiver:
-    instances: list[FakeReceiver] = []
-
-    def __init__(self, streams, token, **kwargs):
-        self.streams = list(streams)
-        self.queues = {s.stream_id: asyncio.Queue() for s in streams}
-        self.failed = asyncio.Event()
-        self.stops = 0
-        FakeReceiver.instances.append(self)
-
-    async def start(self):
-        pass
-
-    async def stop(self):
-        self.stops += 1
-
-    async def next_frame_or_lost(self, stream_id):
-        return await self.queues[stream_id].get()
-
-
-@pytest.fixture(autouse=True)
-def fake_receiver(monkeypatch):
-    FakeReceiver.instances = []
-    monkeypatch.setattr(ll, "LiveKitFrameReceiver", FakeReceiver)
-
-
-def frame(stamp_us=STAMP_US):
-    return SimpleNamespace(user_timestamp_us=stamp_us)
-
-
-async def settle():
-    for _ in range(5):
-        await asyncio.sleep(0)
-
-
-def make_probe(streams, clock):
-    return LiveKitLatencyProbe(
-        lambda: streams, lambda room: "tok", clock_ns=lambda: clock[0], unix_ns=lambda: NOW_US * 1000
-    )
-
-
-async def feed(probe, stream_id, *stamps):
-    for stamp in stamps:
-        FakeReceiver.instances[-1].queues[stream_id].put_nowait(frame(stamp))
-    await settle()
-
-
-# --- summarize -------------------------------------------------------------------
-
-
-def test_summarize_empty_is_none():
-    assert summarize([]) is None
-
-
-def test_summarize_median_p95_and_count():
-    samples = [float(v) for v in range(100, 0, -1)]
-    assert summarize(samples) == {"median_ms": 51.0, "p95_ms": 96.0, "samples": 100}
-
-
-# --- probe -----------------------------------------------------------------------
-
-
-async def test_sample_is_unix_now_minus_stamp_in_ms():
-    clock = [10 * S]
-    probe = make_probe([livekit_stream(1)], clock)
-    try:
-        await probe.snapshot()
-        await feed(probe, 1, STAMP_US)
-        out = await probe.snapshot()
-        assert out["cam1"]["summary"] == {"median_ms": 50.0, "p95_ms": 50.0, "samples": 1}
-        assert out["cam1"]["note"] == ""
-        assert len(FakeReceiver.instances) == 1
-    finally:
-        await probe.stop()
-
-
-async def test_implausible_dropped_and_small_negative_kept():
-    clock = [10 * S]
-    probe = make_probe([livekit_stream(1)], clock)
-    try:
-        await probe.snapshot()
-        await feed(probe, 1, NOW_US + 2_000_000, NOW_US - 61_000_000, NOW_US + 5_000, None)
-        out = await probe.snapshot()
-        assert out["cam1"]["summary"] == {"median_ms": -5.0, "p95_ms": -5.0, "samples": 1}
-    finally:
-        await probe.stop()
-
-
-async def test_monotonic_stream_has_note_and_no_summary():
-    clock = [10 * S]
-    probe = make_probe([livekit_stream(1, basis=MONO)], clock)
-    try:
-        await probe.snapshot()
-        await feed(probe, 1, STAMP_US)
-        out = await probe.snapshot()
-        assert out["cam1"]["summary"] is None
-        assert "monotonic" in out["cam1"]["note"]
-    finally:
-        await probe.stop()
-
-
-async def test_no_samples_reports_note_and_old_samples_age_out():
-    clock = [10 * S]
-    probe = make_probe([livekit_stream(1)], clock)
-    try:
-        out = await probe.snapshot()
-        assert out["cam1"]["summary"] is None
-        assert out["cam1"]["note"] == "no frames received recently"
-        await feed(probe, 1, STAMP_US)
-        assert (await probe.snapshot())["cam1"]["summary"]["samples"] == 1
-        clock[0] += int((ll.WINDOW_S + 0.5) * S)
-        out = await probe.snapshot()
-        assert out["cam1"]["summary"] is None
-        assert out["cam1"]["note"] == "no frames received recently"
-    finally:
-        await probe.stop()
-
-
-async def test_restarts_when_offered_streams_change_or_receiver_failed():
-    clock = [10 * S]
-    streams = [livekit_stream(1)]
-    probe = make_probe(streams, clock)
-    try:
-        await probe.snapshot()
-        await probe.snapshot()
-        assert len(FakeReceiver.instances) == 1
-        streams.append(livekit_stream(2))
-        out = await probe.snapshot()
-        assert len(FakeReceiver.instances) == 2
-        assert FakeReceiver.instances[0].stops == 1
-        assert set(out) == {"cam1", "cam2"}
-        FakeReceiver.instances[1].failed.set()
-        await probe.snapshot()
-        assert len(FakeReceiver.instances) == 3
-        assert FakeReceiver.instances[1].stops == 1
-    finally:
-        await probe.stop()
-
-
-# --- route -----------------------------------------------------------------------
-
-
-def test_route_returns_probe_snapshot():
-    class StubProbe:
-        async def snapshot(self):
-            return {"cam1": {"basis": "X", "summary": None, "note": "n"}}
-
-    app = FastAPI()
-    app.include_router(ll.router)
-    app.state.livekit_latency = StubProbe()
-    response = TestClient(app).get("/api/livekit-latency")
-    assert response.status_code == 200
-    assert response.headers["cache-control"] == "no-store"
-    assert response.json() == {"streams": {"cam1": {"basis": "X", "summary": None, "note": "n"}}}

From dd38a9f16e9dd23cca143e37f3cb8a20cc177668 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:46:40 -0800
Subject: [PATCH 19/54] egocap: four-timestamp clock exchange estimator (pure,
 no transport)

Maps a remote monotonic clock onto this one from t1/t2/t3/t4 exchanges, as
CloudXR's clock sync does: the round trip excludes the remote's processing
time, the offset is ((t2 - t1) + (t3 - t4)) / 2 in signed integer ns, the
uncertainty reported is half the round trip (path asymmetry is not claimed
away), the best recent exchange is used, a mapping goes stale, and a jump
beyond the uncertainties and an allowed drift is a sticky discontinuity.
Nothing uses it yet.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/clock_exchange.py      | 150 ++++++++++++++++++
 1 file changed, 150 insertions(+)
 create mode 100644 examples/egocap/backend/egocap_web/clock_exchange.py

diff --git a/examples/egocap/backend/egocap_web/clock_exchange.py b/examples/egocap/backend/egocap_web/clock_exchange.py
new file mode 100644
index 0000000000..5de4cf2afb
--- /dev/null
+++ b/examples/egocap/backend/egocap_web/clock_exchange.py
@@ -0,0 +1,150 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Maps a remote machine's monotonic clock onto this one's from four-timestamp exchanges.
+
+The pattern is the one CloudXR uses for its clock sync: this side stamps ``t1`` when it sends a request, the remote
+side stamps ``t2`` on receipt and ``t3`` when it replies, and this side stamps ``t4`` on the reply. The round trip
+without the remote's processing time is ``(t4 - t1) - (t3 - t2)``, and the remote-minus-local offset is
+``((t2 - t1) + (t3 - t4)) / 2``. That point estimate assumes the two directions took equally long; the true offset
+can lie anywhere within half the round trip of it, so that half is reported as the mapping's uncertainty and no
+smaller bound is ever claimed. All times are integer nanoseconds and the offset is signed.
+
+This module only turns exchanges into a mapping. Sending the requests, and the transport under them, belong to
+the caller, and so does the policy for what to do when no mapping is available: a mapping that is missing, stale
+or discontinuous means the remote's timestamps cannot be placed on this clock.
+"""
+
+from __future__ import annotations
+
+from collections import deque
+from dataclasses import dataclass
+
+#: Exchanges whose round trip exceeds this are not used: a slow or queued exchange says little about the clocks.
+DEFAULT_MAX_RTT_NS = 250_000_000
+#: A mapping older than this (by this side's clock) is stale and is withheld.
+DEFAULT_STALE_AFTER_NS = 5_000_000_000
+#: The most recent accepted exchanges the best one is chosen from.
+DEFAULT_WINDOW = 8
+#: Relative clock rate difference tolerated between two mappings before their offsets are judged discontinuous.
+DEFAULT_DRIFT_ALLOWANCE = 200e-6
+
+
+@dataclass(frozen=True)
+class Exchange:
+    """One completed four-timestamp exchange: ``t1``/``t4`` on the local clock, ``t2``/``t3`` on the remote's."""
+
+    t1: int
+    t2: int
+    t3: int
+    t4: int
+
+    @property
+    def rtt_ns(self) -> int:
+        """Round trip with the remote's own processing time removed."""
+        return (self.t4 - self.t1) - (self.t3 - self.t2)
+
+    @property
+    def offset_ns(self) -> int:
+        """Remote minus local, assuming symmetric transit."""
+        return ((self.t2 - self.t1) + (self.t3 - self.t4)) // 2
+
+    @property
+    def well_formed(self) -> bool:
+        """Time moved forward on both clocks and the round trip is not negative."""
+        return self.t4 >= self.t1 and self.t3 >= self.t2 and self.rtt_ns >= 0
+
+
+@dataclass(frozen=True)
+class ClockMapping:
+    """An immutable mapping of the remote clock onto the local one; frame conversion only reads this."""
+
+    #: Starts at 1 and changes whenever the estimator starts over or finds a discontinuity.
+    epoch: int
+    offset_ns: int
+    rtt_ns: int
+    #: Half the round trip: the largest error that unknown path asymmetry alone can cause.
+    uncertainty_ns: int
+    #: Local time at which the exchange behind this mapping completed.
+    accepted_at_ns: int
+
+    def to_local_ns(self, remote_ns: int) -> int:
+        """The local-clock time of a remote-clock reading."""
+        return remote_ns - self.offset_ns
+
+
+class ClockEstimator:
+    """Keeps the best recent exchange as the current mapping and notices when the clocks jump apart."""
+
+    def __init__(
+        self,
+        *,
+        max_rtt_ns: int = DEFAULT_MAX_RTT_NS,
+        stale_after_ns: int = DEFAULT_STALE_AFTER_NS,
+        window: int = DEFAULT_WINDOW,
+        drift_allowance: float = DEFAULT_DRIFT_ALLOWANCE,
+    ) -> None:
+        self._max_rtt_ns = max_rtt_ns
+        self._stale_after_ns = stale_after_ns
+        self._drift_allowance = drift_allowance
+        self._recent: deque[Exchange] = deque(maxlen=window)
+        self._epoch = 1
+        self._current: ClockMapping | None = None
+        #: Every mapping adopted, oldest first, so a take can record the epochs and quality it was made under.
+        self.history: list[ClockMapping] = []
+        #: Set, and left set, when a new best mapping disagrees with the last by more than their uncertainties and
+        #: the allowed drift explain: mappings before it stay as they were, and a take spanning it is not aligned.
+        self.discontinuity = False
+
+    def reset(self) -> None:
+        """Start over, for a new source session or a restarted remote: the old mapping no longer applies."""
+        self._recent.clear()
+        self._current = None
+        self._epoch += 1
+
+    def add(self, exchange: Exchange) -> str | None:
+        """Take one exchange into account; returns why it was rejected, or None when it was accepted."""
+        if not exchange.well_formed:
+            return "malformed exchange"
+        if exchange.rtt_ns > self._max_rtt_ns:
+            return "round trip too long"
+        self._recent.append(exchange)
+        best = min(self._recent, key=lambda e: e.rtt_ns)
+        candidate = ClockMapping(
+            epoch=self._epoch,
+            offset_ns=best.offset_ns,
+            rtt_ns=best.rtt_ns,
+            uncertainty_ns=best.rtt_ns // 2,
+            accepted_at_ns=best.t4,
+        )
+        previous = self._current
+        if previous is not None and self._disagrees(previous, candidate):
+            # Not a refinement: the clocks moved. Keep the evidence, start a new epoch from this exchange alone.
+            self.discontinuity = True
+            self._epoch += 1
+            self._recent.clear()
+            self._recent.append(exchange)
+            candidate = ClockMapping(
+                epoch=self._epoch,
+                offset_ns=exchange.offset_ns,
+                rtt_ns=exchange.rtt_ns,
+                uncertainty_ns=exchange.rtt_ns // 2,
+                accepted_at_ns=exchange.t4,
+            )
+        if candidate != previous:
+            self._current = candidate
+            self.history.append(candidate)
+        return None
+
+    def mapping(self, now_ns: int) -> ClockMapping | None:
+        """The current mapping, or None when there is none yet or the last exchange is stale at ``now_ns``."""
+        current = self._current
+        if current is None or now_ns - current.accepted_at_ns > self._stale_after_ns:
+            return None
+        return current
+
+    def _disagrees(self, previous: ClockMapping, candidate: ClockMapping) -> bool:
+        elapsed_ns = max(0, candidate.accepted_at_ns - previous.accepted_at_ns)
+        allowed = previous.uncertainty_ns + candidate.uncertainty_ns + self._drift_allowance * elapsed_ns
+        return abs(candidate.offset_ns - previous.offset_ns) > allowed

From 1e000404edd9e5c91dd8565aa0f6d684382eaccc Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:47:52 -0800
Subject: [PATCH 20/54] egocap emulator: answer clock-sync requests with its
 own monotonic clock

The emulated Orin gets a monotonic clock with a different boot time and the
same slow drift, stamps t2 on receipt and t3 just before replying over a
LiveKit data message addressed to the requester (topic isaaccapture.clock-sync),
and applies the monotonic offset to the monotonic timestamp basis.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../egocap/tools/livekit_orin_emulator.py     | 65 +++++++++++++++++--
 1 file changed, 61 insertions(+), 4 deletions(-)

diff --git a/examples/egocap/tools/livekit_orin_emulator.py b/examples/egocap/tools/livekit_orin_emulator.py
index 73629c0f61..7b1dad4a88 100644
--- a/examples/egocap/tools/livekit_orin_emulator.py
+++ b/examples/egocap/tools/livekit_orin_emulator.py
@@ -19,6 +19,7 @@
 import asyncio
 import contextlib
 import signal
+import struct
 import sys
 import time
 from collections.abc import Callable, Sequence
@@ -108,6 +109,13 @@ def build_parser() -> argparse.ArgumentParser:
         help="a capture-basis stamp names the capture event, which happened this many milliseconds before the "
         "frame is published (exposure, readout, ISP and encode); the processing basis is unaffected",
     )
+    parser.add_argument(
+        "--monotonic-offset-s",
+        type=float,
+        default=0.0,
+        help="emulate an Orin whose monotonic clock reads this many seconds ahead of this host's (a different "
+        "boot time); applies to the monotonic basis and to the clock-sync replies",
+    )
     return parser
 
 
@@ -149,6 +157,7 @@ class ClockModel:
     offset_us: int = 0
     drift_ppm: float = 0.0
     pipeline_delay_us: int = 0
+    monotonic_offset_ns: int = 0
     started_ns: int = 0
     #: The run-time clock the drift is measured on; injectable so a test can step it deterministically.
     monotonic_ns: Callable[[], int] = time.monotonic_ns
@@ -161,17 +170,51 @@ def from_args(
             offset_us=round(args.clock_offset_ms * 1000),
             drift_ppm=args.clock_drift_ppm,
             pipeline_delay_us=round(args.pipeline_delay_ms * 1000),
+            monotonic_offset_ns=round(args.monotonic_offset_s * 1e9),
             started_ns=monotonic_ns(),
             monotonic_ns=monotonic_ns,
         )
 
+    def _drift_us(self) -> float:
+        return (self.monotonic_ns() - self.started_ns) / 1e9 * self.drift_ppm
+
+    def orin_monotonic_ns(self) -> int:
+        """The emulated Orin's monotonic clock: this host's, a different boot time, and the same slow drift."""
+        return self.monotonic_ns() + self.monotonic_offset_ns + round(self._drift_us() * 1000)
+
     def adjustment_us(self, basis: str, *, at_capture: bool) -> int:
         """Microseconds to add to this host's reading of ``basis`` to get the emulated Orin's stamp."""
-        if basis == "monotonic_us":
-            return 0
-        drift_us = (self.monotonic_ns() - self.started_ns) / 1e9 * self.drift_ppm
+        offset_us = self.monotonic_offset_ns // 1000 if basis == "monotonic_us" else self.offset_us
         delay_us = self.pipeline_delay_us if at_capture else 0
-        return round(self.offset_us + drift_us - delay_us)
+        return round(offset_us + self._drift_us() - delay_us)
+
+
+#: A clock-sync request from the PC (``Q``, sequence, t1) and this publisher's reply (``R``, sequence, t1, t2, t3):
+#: little-endian, t1 on the PC's monotonic clock and t2/t3 on this publisher's, in nanoseconds.
+CLOCK_SYNC_TOPIC = "isaaccapture.clock-sync"
+_SYNC_REQUEST = struct.Struct("<cIq")
+_SYNC_REPLY = struct.Struct("<cIqqq")
+
+
+def build_sync_reply(request: bytes, t2: int, t3: int) -> bytes | None:
+    """The reply to a well-formed clock-sync request, or None for anything else."""
+    if len(request) != _SYNC_REQUEST.size:
+        return None
+    kind, sequence, t1 = _SYNC_REQUEST.unpack(request)
+    if kind != b"Q":
+        return None
+    return _SYNC_REPLY.pack(b"R", sequence, t1, t2, t3)
+
+
+async def answer_clock_sync(room: rtc.Room, identity: str, request: bytes, t2: int, clock: ClockModel) -> None:
+    """Answers one clock-sync request, stamping t3 just before sending; anything malformed is ignored."""
+    # Stamped here, after t2, and as late as possible: the PC removes (t3 - t2) from its round trip.
+    reply = build_sync_reply(request, t2, clock.orin_monotonic_ns())
+    if reply is None:
+        return
+    await room.local_participant.publish_data(
+        reply, reliable=False, destination_identities=[identity], topic=CLOCK_SYNC_TOPIC
+    )
 
 
 def build_metadata(frame_id: int, capture_counter_ns: int, timestamp_us: int) -> rtc.FrameMetadata:
@@ -294,6 +337,20 @@ async def run(args: argparse.Namespace, stop: asyncio.Event) -> None:
     try:
         # One emulated Orin clock for every track, so their stamps share one offset and drift origin.
         clock = ClockModel.from_args(args)
+        replies: set[asyncio.Task] = set()
+
+        def on_data(packet: rtc.DataPacket) -> None:
+            # t2 is read first, before anything else runs, so it is as close to the receipt as software allows.
+            t2 = clock.orin_monotonic_ns()
+            if packet.topic != CLOCK_SYNC_TOPIC or packet.participant is None:
+                return
+            task = asyncio.get_running_loop().create_task(
+                answer_clock_sync(room, packet.participant.identity, packet.data, t2, clock)
+            )
+            replies.add(task)
+            task.add_done_callback(replies.discard)
+
+        room.on("data_received", on_data)
         # One source and one published track per stream, named as the PC side expects.
         for spec in args.streams:
             source = rtc.VideoSource(args.width, args.height)

From 9bc9205b465207b6e842ec140003bf5af3c52cc0 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:48:20 -0800
Subject: [PATCH 21/54] egocap: estimator tests; keep a tied mapping fresh and
 see a step at once

On equal round trips the newest exchange now wins, so a steady link does not
go stale at the window's oldest exchange, and a jump is judged on the newest
exchange, so it is detected immediately even when older exchanges have an
equally good round trip.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/clock_exchange.py      |  38 ++--
 .../tests/backend/test_clock_exchange.py      | 199 ++++++++++++++++++
 2 files changed, 219 insertions(+), 18 deletions(-)
 create mode 100644 examples/egocap/tests/backend/test_clock_exchange.py

diff --git a/examples/egocap/backend/egocap_web/clock_exchange.py b/examples/egocap/backend/egocap_web/clock_exchange.py
index 5de4cf2afb..5d49900c52 100644
--- a/examples/egocap/backend/egocap_web/clock_exchange.py
+++ b/examples/egocap/backend/egocap_web/clock_exchange.py
@@ -109,29 +109,22 @@ def add(self, exchange: Exchange) -> str | None:
             return "malformed exchange"
         if exchange.rtt_ns > self._max_rtt_ns:
             return "round trip too long"
-        self._recent.append(exchange)
-        best = min(self._recent, key=lambda e: e.rtt_ns)
-        candidate = ClockMapping(
-            epoch=self._epoch,
-            offset_ns=best.offset_ns,
-            rtt_ns=best.rtt_ns,
-            uncertainty_ns=best.rtt_ns // 2,
-            accepted_at_ns=best.t4,
-        )
         previous = self._current
-        if previous is not None and self._disagrees(previous, candidate):
-            # Not a refinement: the clocks moved. Keep the evidence, start a new epoch from this exchange alone.
+        newest = self._mapping_of(exchange)
+        if previous is not None and self._disagrees(previous, newest):
+            # Not a refinement: the clocks moved. Judged on the newest exchange, not on the best of the window, so
+            # a jump is seen at once even when old exchanges have an equally good round trip. Keep the evidence and
+            # start a new epoch from this exchange alone.
             self.discontinuity = True
             self._epoch += 1
             self._recent.clear()
             self._recent.append(exchange)
-            candidate = ClockMapping(
-                epoch=self._epoch,
-                offset_ns=exchange.offset_ns,
-                rtt_ns=exchange.rtt_ns,
-                uncertainty_ns=exchange.rtt_ns // 2,
-                accepted_at_ns=exchange.t4,
-            )
+            candidate = self._mapping_of(exchange)
+        else:
+            self._recent.append(exchange)
+            # On equal round trips the newest wins, so a steady link keeps its mapping fresh.
+            best = min(self._recent, key=lambda e: (e.rtt_ns, -e.t4))
+            candidate = self._mapping_of(best)
         if candidate != previous:
             self._current = candidate
             self.history.append(candidate)
@@ -144,6 +137,15 @@ def mapping(self, now_ns: int) -> ClockMapping | None:
             return None
         return current
 
+    def _mapping_of(self, exchange: Exchange) -> ClockMapping:
+        return ClockMapping(
+            epoch=self._epoch,
+            offset_ns=exchange.offset_ns,
+            rtt_ns=exchange.rtt_ns,
+            uncertainty_ns=exchange.rtt_ns // 2,
+            accepted_at_ns=exchange.t4,
+        )
+
     def _disagrees(self, previous: ClockMapping, candidate: ClockMapping) -> bool:
         elapsed_ns = max(0, candidate.accepted_at_ns - previous.accepted_at_ns)
         allowed = previous.uncertainty_ns + candidate.uncertainty_ns + self._drift_allowance * elapsed_ns
diff --git a/examples/egocap/tests/backend/test_clock_exchange.py b/examples/egocap/tests/backend/test_clock_exchange.py
new file mode 100644
index 0000000000..491d37d80b
--- /dev/null
+++ b/examples/egocap/tests/backend/test_clock_exchange.py
@@ -0,0 +1,199 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Clock exchange estimation: offset, uncertainty, window choice, rejection, drift, steps, staleness, reset."""
+
+from __future__ import annotations
+
+import dataclasses
+
+import pytest
+
+from egocap_web.clock_exchange import ClockEstimator, Exchange
+
+MS = 1_000_000
+S = 1_000_000_000
+
+
+def make_exchange(
+    t1: int,
+    *,
+    offset: int = 0,
+    forward: int = MS,
+    back: int = MS,
+    processing: int = 0,
+    rate_ppm: float = 0.0,
+) -> Exchange:
+    """An exchange between a local clock and a remote clock running ``offset`` (and ``rate_ppm``) ahead of it."""
+
+    def remote(local_ns: int) -> int:
+        return local_ns + offset + round(local_ns * rate_ppm * 1e-6)
+
+    arrival = t1 + forward
+    departure = arrival + processing
+    return Exchange(t1=t1, t2=remote(arrival), t3=remote(departure), t4=departure + back)
+
+
+def test_symmetric_delays_recover_offset_and_rtt_excludes_processing() -> None:
+    ex = make_exchange(10 * S, offset=123_456_000, forward=3 * MS, back=3 * MS, processing=40 * MS)
+    assert ex.offset_ns == 123_456_000
+    assert ex.rtt_ns == 6 * MS
+
+    estimator = ClockEstimator()
+    assert estimator.add(ex) is None
+    mapping = estimator.mapping(ex.t4)
+    assert mapping is not None
+    assert mapping.offset_ns == 123_456_000
+    assert mapping.rtt_ns == 6 * MS
+    assert mapping.uncertainty_ns == 3 * MS
+
+
+@pytest.mark.parametrize("forward,back", [(1 * MS, 9 * MS), (9 * MS, 1 * MS), (2 * MS, 2 * MS)])
+def test_asymmetric_delays_error_is_half_the_difference_within_uncertainty(forward: int, back: int) -> None:
+    true_offset = 5 * MS
+    ex = make_exchange(S, offset=true_offset, forward=forward, back=back, processing=7 * MS)
+    estimator = ClockEstimator()
+    estimator.add(ex)
+    mapping = estimator.mapping(ex.t4)
+    assert mapping is not None
+    error = mapping.offset_ns - true_offset
+    assert error == (forward - back) // 2
+    assert abs(error) <= mapping.uncertainty_ns
+
+
+def test_negative_offset_and_to_local_inverts_mapping() -> None:
+    true_offset = -250 * MS
+    ex = make_exchange(20 * S, offset=true_offset, forward=2 * MS, back=2 * MS, processing=MS)
+    assert ex.offset_ns == true_offset
+
+    estimator = ClockEstimator()
+    estimator.add(ex)
+    mapping = estimator.mapping(ex.t4)
+    assert mapping is not None
+    assert mapping.offset_ns == true_offset
+    local = 21 * S
+    assert mapping.to_local_ns(local + true_offset) == local
+
+
+def test_high_rtt_outlier_does_not_replace_better_mapping() -> None:
+    estimator = ClockEstimator()
+    estimator.add(make_exchange(1 * S, offset=10 * MS, forward=MS, back=MS))
+    good = estimator.mapping(2 * S)
+    assert good is not None
+
+    # Same clock, but a much slower exchange: it joins the window yet must not win.
+    estimator.add(make_exchange(2 * S, offset=10 * MS, forward=20 * MS, back=20 * MS))
+    assert estimator.mapping(3 * S) is good
+    assert estimator.history == [good]
+
+
+def test_best_of_window_is_the_lowest_rtt() -> None:
+    estimator = ClockEstimator()
+    for i, delay in enumerate([5 * MS, 3 * MS, 8 * MS, 2 * MS, 6 * MS]):
+        estimator.add(make_exchange((i + 1) * S, offset=MS, forward=delay, back=delay))
+    mapping = estimator.mapping(6 * S)
+    assert mapping is not None
+    assert mapping.rtt_ns == 4 * MS
+
+
+def _malformed_and_slow() -> list[tuple[str, Exchange]]:
+    return [
+        ("slow", make_exchange(S, forward=200 * MS, back=100 * MS)),
+        ("t4_before_t1", Exchange(t1=100, t2=0, t3=0, t4=50)),
+        ("t3_before_t2", Exchange(t1=0, t2=100, t3=50, t4=1_000)),
+        ("negative_rtt", Exchange(t1=0, t2=0, t3=900, t4=1_000 - 200)),
+    ]
+
+
+@pytest.mark.parametrize("name,bad", _malformed_and_slow(), ids=lambda v: v if isinstance(v, str) else "")
+def test_rejected_exchange_reports_reason_and_leaves_mapping_unchanged(name: str, bad: Exchange) -> None:
+    estimator = ClockEstimator(max_rtt_ns=250 * MS)
+    estimator.add(make_exchange(S, offset=MS))
+    before = estimator.mapping(2 * S)
+    assert before is not None
+
+    reason = estimator.add(bad)
+
+    assert isinstance(reason, str) and reason
+    assert estimator.mapping(2 * S) is before
+    assert estimator.history == [before]
+    assert not estimator.discontinuity
+
+
+def test_drift_stays_continuous_and_tracks_within_uncertainty_plus_drift() -> None:
+    ppm = 50.0
+    forward = back = MS
+    # Staleness is not under test: equal-rtt ties pick the oldest windowed exchange, which outlives the default.
+    estimator = ClockEstimator(stale_after_ns=60 * S)
+    for second in range(1, 31):
+        ex = make_exchange(second * S, offset=0, forward=forward, back=back, rate_ppm=ppm)
+        assert estimator.add(ex) is None
+        mapping = estimator.mapping(ex.t4)
+        assert mapping is not None
+        # True offset at local time t is ppm * t; the mapping was taken at accepted_at_ns.
+        true_offset = ppm * 1e-6 * ex.t4
+        drift_since_best = ppm * 1e-6 * (ex.t4 - mapping.accepted_at_ns)
+        assert abs(mapping.offset_ns - true_offset) <= mapping.uncertainty_ns + drift_since_best + 2
+    assert not estimator.discontinuity
+    assert {m.epoch for m in estimator.history} == {1}
+
+
+def test_clock_step_sets_sticky_discontinuity_and_keeps_earlier_mapping() -> None:
+    estimator = ClockEstimator()
+    for second in range(1, 4):
+        estimator.add(make_exchange(second * S, offset=0, forward=2 * MS, back=2 * MS))
+    earlier = estimator.history[-1]
+    snapshot = dataclasses.replace(earlier)
+    assert not estimator.discontinuity
+
+    # The remote clock jumps 50 ms; this exchange also has the lowest rtt so it becomes the best candidate.
+    step = make_exchange(4 * S, offset=50 * MS, forward=MS, back=MS)
+    assert estimator.add(step) is None
+
+    assert estimator.discontinuity
+    current = estimator.mapping(step.t4)
+    assert current is not None
+    assert current.epoch == earlier.epoch + 1
+    assert current.offset_ns == 50 * MS
+    assert estimator.history[-1] == current
+    assert earlier in estimator.history
+    assert earlier == snapshot
+    with pytest.raises(dataclasses.FrozenInstanceError):
+        earlier.offset_ns = 0  # type: ignore[misc]
+
+    # Sticky: later well-behaved exchanges do not clear it.
+    estimator.add(make_exchange(5 * S, offset=50 * MS, forward=MS, back=MS))
+    assert estimator.discontinuity
+
+
+def test_mapping_is_none_before_any_exchange_and_after_stale_window() -> None:
+    estimator = ClockEstimator(stale_after_ns=5 * S)
+    assert estimator.mapping(0) is None
+
+    ex = make_exchange(S, offset=MS)
+    estimator.add(ex)
+    assert estimator.mapping(ex.t4) is not None
+    assert estimator.mapping(ex.t4 + 5 * S) is not None
+    assert estimator.mapping(ex.t4 + 5 * S + 1) is None
+
+
+def test_reset_bumps_epoch_clears_mapping_and_keeps_history() -> None:
+    estimator = ClockEstimator()
+    first = make_exchange(S, offset=MS)
+    estimator.add(first)
+    adopted = list(estimator.history)
+    assert adopted
+
+    estimator.reset()
+
+    assert estimator.mapping(first.t4) is None
+    assert estimator.history == adopted
+
+    # The same exchange after a reset is adopted afresh, in the new epoch.
+    estimator.add(first)
+    mapping = estimator.mapping(first.t4)
+    assert mapping is not None
+    assert mapping.epoch == adopted[0].epoch + 1
+    assert estimator.history[: len(adopted)] == adopted
+    assert len(estimator.history) == len(adopted) + 1

From c66ef03d054c735c28ed8339b4ce061be8686aef Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:48:53 -0800
Subject: [PATCH 22/54] egocap: PC-side clock-sync client over LiveKit data
 messages; tests for steady and stepped links

Sends a request to the publisher once a second (t1 read just before the send),
stamps t4 on the matching reply and feeds ClockEstimator; replies that do not
match an outstanding request are ignored. Not wired into the receiver yet.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/livekit_clock_sync.py  | 127 ++++++++++++++++++
 .../tests/backend/test_clock_exchange.py      |  37 ++++-
 2 files changed, 162 insertions(+), 2 deletions(-)
 create mode 100644 examples/egocap/backend/egocap_web/livekit_clock_sync.py

diff --git a/examples/egocap/backend/egocap_web/livekit_clock_sync.py b/examples/egocap/backend/egocap_web/livekit_clock_sync.py
new file mode 100644
index 0000000000..049df08fef
--- /dev/null
+++ b/examples/egocap/backend/egocap_web/livekit_clock_sync.py
@@ -0,0 +1,127 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Sends clock-sync requests to a LiveKit publisher and turns its replies into a clock mapping.
+
+Once a second this side stamps ``t1`` with its monotonic clock and sends a small request as a LiveKit data message
+addressed to the publisher only; the publisher replies with its own monotonic ``t2`` (receipt) and ``t3`` (reply
+send); this side stamps ``t4`` on the reply and hands the four times to ``ClockEstimator``. Requests ride the
+existing room connection and never the video path. Messages are little-endian: a request is ``Q``, sequence, t1;
+a reply is ``R``, sequence, t1, t2, t3 (nanoseconds, t1 on this side's clock, t2/t3 on the publisher's).
+
+A reply that does not match an outstanding request (sequence and t1) is ignored, so a stale or forged message
+cannot become a measurement. Missing replies leave the mapping to go stale, which is the caller's signal.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import contextlib
+import logging
+import struct
+import time
+from collections.abc import Callable
+
+from livekit import rtc
+
+from .clock_exchange import ClockEstimator, ClockMapping, Exchange
+
+logger = logging.getLogger("isaaccapture.egocap.livekit_clock_sync")
+
+CLOCK_SYNC_TOPIC = "isaaccapture.clock-sync"
+_REQUEST = struct.Struct("<cIq")
+_REPLY = struct.Struct("<cIqqq")
+#: Requests kept waiting for a reply; older ones are given up on.
+_MAX_OUTSTANDING = 16
+
+
+def encode_request(sequence: int, t1: int) -> bytes:
+    return _REQUEST.pack(b"Q", sequence & 0xFFFFFFFF, t1)
+
+
+def decode_reply(data: bytes) -> tuple[int, int, int, int] | None:
+    """(sequence, t1, t2, t3) of a well-formed reply, else None."""
+    if len(data) != _REPLY.size:
+        return None
+    kind, sequence, t1, t2, t3 = _REPLY.unpack(data)
+    return (sequence, t1, t2, t3) if kind == b"R" else None
+
+
+class ClockSyncClient:
+    """Keeps a ``ClockEstimator`` fed by exchanges with one publisher, until stopped."""
+
+    def __init__(
+        self,
+        room: rtc.Room,
+        publisher_identity: str,
+        *,
+        interval_s: float = 1.0,
+        monotonic_ns: Callable[[], int] = time.monotonic_ns,
+        estimator: ClockEstimator | None = None,
+    ) -> None:
+        self._room = room
+        self._publisher = publisher_identity
+        self._interval_s = interval_s
+        self._monotonic_ns = monotonic_ns
+        self.estimator = estimator or ClockEstimator()
+        self._outstanding: dict[int, int] = {}
+        self._sequence = 0
+        self._task: asyncio.Task[None] | None = None
+        #: Replies rejected by the estimator (malformed, too slow), counted for diagnostics.
+        self.rejected = 0
+
+    def start(self) -> None:
+        self._room.on("data_received", self._on_data)
+        self._task = asyncio.get_running_loop().create_task(self._run())
+
+    async def stop(self) -> None:
+        task, self._task = self._task, None
+        if task is not None:
+            task.cancel()
+            with contextlib.suppress(asyncio.CancelledError):
+                await task
+        self._room.off("data_received", self._on_data)
+
+    def mapping(self) -> ClockMapping | None:
+        """The publisher-to-local clock mapping, or None when there is none yet or it is stale."""
+        return self.estimator.mapping(self._monotonic_ns())
+
+    @property
+    def discontinuity(self) -> bool:
+        return self.estimator.discontinuity
+
+    def _on_data(self, packet: rtc.DataPacket) -> None:
+        t4 = self._monotonic_ns()  # first, so it is as close to the receipt as software allows
+        if packet.topic != CLOCK_SYNC_TOPIC or packet.participant is None:
+            return
+        if packet.participant.identity != self._publisher:
+            return
+        reply = decode_reply(packet.data)
+        if reply is None:
+            return
+        sequence, t1, t2, t3 = reply
+        if self._outstanding.pop(sequence, None) != t1:
+            return  # not an answer to a request of ours
+        if self.estimator.add(Exchange(t1=t1, t2=t2, t3=t3, t4=t4)) is not None:
+            self.rejected += 1
+
+    async def _run(self) -> None:
+        while True:
+            self._sequence += 1
+            sequence = self._sequence
+            while len(self._outstanding) >= _MAX_OUTSTANDING:
+                self._outstanding.pop(next(iter(self._outstanding)))
+            try:
+                # t1 is read as late as possible, immediately before the send.
+                t1 = self._monotonic_ns()
+                self._outstanding[sequence & 0xFFFFFFFF] = t1
+                await self._room.local_participant.publish_data(
+                    encode_request(sequence, t1),
+                    reliable=False,
+                    destination_identities=[self._publisher],
+                    topic=CLOCK_SYNC_TOPIC,
+                )
+            except Exception:
+                logger.exception("clock-sync request failed")
+            await asyncio.sleep(self._interval_s)
diff --git a/examples/egocap/tests/backend/test_clock_exchange.py b/examples/egocap/tests/backend/test_clock_exchange.py
index 491d37d80b..4880648120 100644
--- a/examples/egocap/tests/backend/test_clock_exchange.py
+++ b/examples/egocap/tests/backend/test_clock_exchange.py
@@ -124,8 +124,7 @@ def test_rejected_exchange_reports_reason_and_leaves_mapping_unchanged(name: str
 def test_drift_stays_continuous_and_tracks_within_uncertainty_plus_drift() -> None:
     ppm = 50.0
     forward = back = MS
-    # Staleness is not under test: equal-rtt ties pick the oldest windowed exchange, which outlives the default.
-    estimator = ClockEstimator(stale_after_ns=60 * S)
+    estimator = ClockEstimator()
     for second in range(1, 31):
         ex = make_exchange(second * S, offset=0, forward=forward, back=back, rate_ppm=ppm)
         assert estimator.add(ex) is None
@@ -139,6 +138,40 @@ def test_drift_stays_continuous_and_tracks_within_uncertainty_plus_drift() -> No
     assert {m.epoch for m in estimator.history} == {1}
 
 
+def test_steady_link_with_identical_rtt_never_goes_stale() -> None:
+    estimator = ClockEstimator()
+    for second in range(1, 31):
+        ex = make_exchange(second * S, offset=7 * MS, forward=2 * MS, back=2 * MS)
+        assert estimator.add(ex) is None
+        mapping = estimator.mapping(ex.t4)
+        assert mapping is not None
+        assert mapping.accepted_at_ns == ex.t4
+
+
+def test_step_with_same_rtt_is_a_discontinuity_on_that_exchange() -> None:
+    estimator = ClockEstimator()
+    for second in range(1, 6):
+        estimator.add(make_exchange(second * S, offset=0, forward=2 * MS, back=2 * MS))
+    earlier = estimator.history[-1]
+    snapshot = dataclasses.replace(earlier)
+    history_before = list(estimator.history)
+    assert not estimator.discontinuity
+
+    step = make_exchange(6 * S, offset=50 * MS, forward=2 * MS, back=2 * MS)
+    assert step.rtt_ns == earlier.rtt_ns
+    assert estimator.add(step) is None
+
+    assert estimator.discontinuity
+    current = estimator.mapping(step.t4)
+    assert current is not None
+    assert current.epoch == earlier.epoch + 1
+    assert current.offset_ns == 50 * MS
+    assert current.accepted_at_ns == step.t4
+    assert estimator.history[: len(history_before)] == history_before
+    assert estimator.history[len(history_before) :] == [current]
+    assert earlier == snapshot
+
+
 def test_clock_step_sets_sticky_discontinuity_and_keeps_earlier_mapping() -> None:
     estimator = ClockEstimator()
     for second in range(1, 4):

From 2ca41adb3363c8af37e99cac2bccd5e73c56c92f Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:49:07 -0800
Subject: [PATCH 23/54] egocap: tests for the emulator's monotonic clock and
 clock-sync replies

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../tests/tools/test_livekit_orin_emulator.py | 107 ++++++++++++++++--
 1 file changed, 95 insertions(+), 12 deletions(-)

diff --git a/examples/egocap/tests/tools/test_livekit_orin_emulator.py b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
index 7d8c06943b..d902888f22 100644
--- a/examples/egocap/tests/tools/test_livekit_orin_emulator.py
+++ b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
@@ -5,6 +5,7 @@
 from __future__ import annotations
 
 import asyncio
+import struct
 import sys
 from pathlib import Path
 from types import SimpleNamespace
@@ -118,7 +119,9 @@ async def aclose(self):
 @pytest.fixture
 def fake_rtc(monkeypatch):
     """Replaces the SDK with recorders so no server is needed."""
-    log = SimpleNamespace(published=[], options=[], unpublished=[], disconnected=False, sources=[], stop=None)
+    log = SimpleNamespace(
+        published=[], options=[], unpublished=[], disconnected=False, sources=[], stop=None, handlers={}
+    )
 
     class Participant:
         async def publish_track(self, track, options):
@@ -132,6 +135,9 @@ async def unpublish_track(self, sid):
     class Room:
         local_participant = Participant()
 
+        def on(self, event, callback=None):
+            log.handlers[event] = callback
+
         async def connect(self, url, token):
             log.connected = (url, token)
 
@@ -169,6 +175,7 @@ async def test_run_publishes_paces_and_shuts_down_cleanly(token_file, fake_rtc):
     # Every track is published by name and each source stops at its own limit or on shutdown.
     assert [t[0] for t in fake_rtc.published] == ["a", "b"]
     assert fake_rtc.connected == ("ws://x", "secret-token")
+    assert "data_received" in fake_rtc.handlers
     ids = [m.frame_id for _, _, m in fake_rtc.sources[0].calls]
     assert ids == list(range(1, len(ids) + 1)) and len(ids) >= 1
     # Cleanup happened: unpublished, closed, disconnected.
@@ -300,24 +307,100 @@ def test_drift_grows_linearly_with_injected_run_time():
     assert seen == [0, 150, 300]
 
 
-def test_pipeline_delay_applies_at_capture_only_and_monotonic_is_never_adjusted():
+def test_pipeline_delay_applies_at_capture_only_and_monotonic_follows_its_own_offset():
     now_ns = [10_000_000_000]
-    model = _model(now_ns, offset_us=1_000, drift_ppm=15.0, pipeline_delay_us=40_000)
+    model = _model(
+        now_ns, offset_us=1_000, drift_ppm=15.0, pipeline_delay_us=40_000, monotonic_offset_ns=3_000_000_000
+    )
     assert model.adjustment_us("capture_unix_us", at_capture=True) == 1_000 + 150 - 40_000
     assert model.adjustment_us("processing_unix_us", at_capture=False) == 1_000 + 150
-    assert model.adjustment_us("monotonic_us", at_capture=True) == 0
-    assert model.adjustment_us("monotonic_us", at_capture=False) == 0
+    # The Unix offset does not leak into the monotonic basis.
+    assert model.adjustment_us("monotonic_us", at_capture=True) == 3_000_000 + 150 - 40_000
+    assert model.adjustment_us("monotonic_us", at_capture=False) == 3_000_000 + 150
+
+
+def test_orin_monotonic_is_host_plus_offset_plus_drift():
+    now_ns = [0]
+    model = _model(now_ns, monotonic_offset_ns=3_000_000_000, drift_ppm=15.0)
+    assert model.orin_monotonic_ns() == 3_000_000_000
+    now_ns[0] = 10_000_000_000
+    assert model.orin_monotonic_ns() == 10_000_000_000 + 3_000_000_000 + 150_000
 
 
 def test_from_args_reads_the_command_line_units():
-    args = SimpleNamespace(clock_offset_ms=-1.5, clock_drift_ppm=2.0, pipeline_delay_ms=30.0)
-    model = emu.ClockModel.from_args(args, monotonic_ns=lambda: 42)
-    assert (model.offset_us, model.drift_ppm, model.pipeline_delay_us, model.started_ns) == (
-        -1_500,
-        2.0,
-        30_000,
-        42,
+    args = SimpleNamespace(
+        clock_offset_ms=-1.5, clock_drift_ppm=2.0, pipeline_delay_ms=30.0, monotonic_offset_s=3.0
     )
+    model = emu.ClockModel.from_args(args, monotonic_ns=lambda: 42)
+    assert (
+        model.offset_us,
+        model.drift_ppm,
+        model.pipeline_delay_us,
+        model.monotonic_offset_ns,
+        model.started_ns,
+    ) == (-1_500, 2.0, 30_000, 3_000_000_000, 42)
+
+
+# --- Clock-sync replies --------------------------------------------------------
+
+
+def _request(seq=7, t1=123_456_789, kind=b"Q"):
+    return struct.pack("<cIq", kind, seq, t1)
+
+
+def test_build_sync_reply_round_trips_and_echoes_the_request():
+    reply = emu.build_sync_reply(_request(), 1_000, 2_000)
+    assert struct.unpack("<cIqqq", reply) == (b"R", 7, 123_456_789, 1_000, 2_000)
+
+
+@pytest.mark.parametrize("request_bytes", [b"", _request()[:-1], _request() + b"\0", _request(kind=b"R")])
+def test_build_sync_reply_rejects_malformed_requests(request_bytes):
+    assert emu.build_sync_reply(request_bytes, 1, 2) is None
+
+
+class FakeRoom:
+    """A room whose local participant records every publish_data call."""
+
+    def __init__(self):
+        self.sent = []
+        self.local_participant = self
+
+    async def publish_data(self, payload, **kwargs):
+        self.sent.append((payload, kwargs))
+
+
+async def test_answer_clock_sync_replies_to_the_requester_only_with_t3_after_t2():
+    now_ns = [5_000_000_000]
+    clock = _model(now_ns, monotonic_offset_ns=3_000_000_000)
+    t2 = clock.orin_monotonic_ns()
+    now_ns[0] += 40_000
+    room = FakeRoom()
+    await emu.answer_clock_sync(room, "pc", _request(), t2, clock)
+    [(payload, kwargs)] = room.sent
+    assert kwargs == {"reliable": False, "destination_identities": ["pc"], "topic": emu.CLOCK_SYNC_TOPIC}
+    kind, seq, t1, got_t2, t3 = struct.unpack("<cIqqq", payload)
+    assert (kind, seq, t1, got_t2) == (b"R", 7, 123_456_789, t2)
+    assert t3 == t2 + 40_000
+
+
+async def test_answer_clock_sync_sends_nothing_for_a_malformed_request():
+    room = FakeRoom()
+    await emu.answer_clock_sync(room, "pc", b"junk", 1, _model([0]))
+    assert room.sent == []
+
+
+def test_exchange_with_the_emulator_reply_recovers_the_monotonic_offset():
+    exchange_cls = pytest.importorskip("egocap_web.clock_exchange").Exchange
+    now_ns = [0]
+    clock = _model(now_ns, monotonic_offset_ns=3_000_000_000)
+    one_way, t1 = 5_000_000, 100_000_000_000
+    # The PC's clock is this host's; the emulator reads host + 3 s and replies on arrival.
+    now_ns[0] = t1 + one_way
+    t2 = t3 = clock.orin_monotonic_ns()
+    _, _, echoed_t1, r2, r3 = struct.unpack("<cIqqq", emu.build_sync_reply(_request(t1=t1), t2, t3))
+    exchange = exchange_cls(t1=echoed_t1, t2=r2, t3=r3, t4=t1 + 2 * one_way)
+    assert abs(exchange.offset_ns - 3_000_000_000) <= 1_000
+    assert exchange.rtt_ns == 10_000_000
 
 
 async def _publish_one(token_file, monkeypatch, sensor, clock, *extra):

From e6560bbcdc504f76cd64e579aec920d37615bfe3 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:49:29 -0800
Subject: [PATCH 24/54] egocap: let the LiveKit receiver run a clock-sync
 client when asked

Off by default; when on, the receiver starts a ClockSyncClient for its
publisher after connecting and stops it before disconnecting.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../egocap/backend/egocap_web/livekit_receiver.py    | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/examples/egocap/backend/egocap_web/livekit_receiver.py b/examples/egocap/backend/egocap_web/livekit_receiver.py
index a6375cb6fd..0b8e1f4424 100644
--- a/examples/egocap/backend/egocap_web/livekit_receiver.py
+++ b/examples/egocap/backend/egocap_web/livekit_receiver.py
@@ -26,6 +26,8 @@
 
 from capture_server import protocol as p
 
+from .livekit_clock_sync import ClockSyncClient
+
 try:
     from livekit import rtc
 except ImportError:  # the optional "livekit" extra is not installed
@@ -99,6 +101,7 @@ def __init__(
         token: str,
         *,
         queue_frames: int = DEFAULT_QUEUE_FRAMES,
+        clock_sync: bool = False,
     ) -> None:
         # The package is optional; fail here with the fix rather than later with an AttributeError.
         if rtc is None:
@@ -113,6 +116,9 @@ def __init__(
         self._by_track = {s.track: s for s in streams}
         self._url, self._publisher = streams[0].url, streams[0].publisher
         self._token = token
+        self._want_clock_sync = clock_sync
+        #: Maps the publisher's monotonic clock onto this host's; set once connected when requested.
+        self.clock_sync: ClockSyncClient | None = None
         self._room: rtc.Room | None = None
         self._queues = {s.stream_id: asyncio.Queue[ReceivedFrame](maxsize=queue_frames) for s in streams}
         self.counters = {s.stream_id: StreamCounters() for s in streams}
@@ -137,6 +143,9 @@ async def start(self) -> None:
         # Nothing is subscribed automatically: only the offered tracks are, so unrelated tracks in the room cost no
         # media work here.
         _ = await room.connect(self._url, self._token, rtc.RoomOptions(auto_subscribe=False))
+        if self._want_clock_sync:
+            self.clock_sync = ClockSyncClient(room, self._publisher)
+            self.clock_sync.start()
         # Tracks published before we joined arrive here rather than through track_published.
         for participant in room.remote_participants.values():
             for publication in participant.track_publications.values():
@@ -147,6 +156,9 @@ async def start(self) -> None:
     async def stop(self) -> None:
         """Leave the room and stop every reader; frames still queued stay available to the consumer."""
         room, self._room = self._room, None
+        if self.clock_sync is not None:
+            await self.clock_sync.stop()
+            self.clock_sync = None
         for task in self._readers.values():
             task.cancel()
         for task in list(self._readers.values()):

From fec56b01e76d7bbcc7b0fd05da3fac860b08fde7 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:51:03 -0800
Subject: [PATCH 25/54] egocap: record LiveKit video through the four-timestamp
 clock mapping only

A new explicit basis, SENSOR_CAPTURE_MONOTONIC_US (the capture event on the
publisher's monotonic clock), is the only one the recording accepts. The feed
maps frame stamps through the receiver's clock-sync client, and ends the take
when the mapping is missing, stale or has jumped; a take cannot start without a
first mapping. UnixClockMap and its Unix path are removed. The emulator stamps
the capture event on its own monotonic clock by default. A stray reply with a
matching sequence but wrong t1 no longer discards the pending request.
Tests follow.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/livekit_clock_sync.py  |   5 +-
 .../backend/egocap_web/livekit_recording.py   | 124 ++++++------------
 .../capture_server/livekit_streams.py         |   1 +
 .../capture_server/capture_server/protocol.py |   9 +-
 .../egocap/tools/livekit_orin_emulator.py     |  20 +--
 5 files changed, 63 insertions(+), 96 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/livekit_clock_sync.py b/examples/egocap/backend/egocap_web/livekit_clock_sync.py
index 049df08fef..5ac228c3d0 100644
--- a/examples/egocap/backend/egocap_web/livekit_clock_sync.py
+++ b/examples/egocap/backend/egocap_web/livekit_clock_sync.py
@@ -101,8 +101,9 @@ def _on_data(self, packet: rtc.DataPacket) -> None:
         if reply is None:
             return
         sequence, t1, t2, t3 = reply
-        if self._outstanding.pop(sequence, None) != t1:
-            return  # not an answer to a request of ours
+        if self._outstanding.get(sequence) != t1:
+            return  # not an answer to a request of ours; a stray reply must not discard the real one's entry
+        del self._outstanding[sequence]
         if self.estimator.add(Exchange(t1=t1, t2=t2, t3=t3, t4=t4)) is not None:
             self.rejected += 1
 
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 6f8a4b5fd4..8c08735b95 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -4,10 +4,13 @@
 
 """Feeds received LiveKit camera frames into a take's recording ingress.
 
-A frame is recorded only when its timestamp is a capture time (``SENSOR_CAPTURE_UNIX_US``), which can then be put
-on this machine's monotonic clock, the same clock the tracking samples use. A stream stamped with the publisher's
-monotonic clock or with its processing time is not a capture time, so the feed stops with that reason instead of
-recording a guessed one. Arrival time is never used as capture time.
+A frame is recorded only when its timestamp is a capture event on the publisher's monotonic clock
+(``SENSOR_CAPTURE_MONOTONIC_US``). It is placed on this machine's monotonic clock, the one the tracking samples
+use, through the mapping the receiver's clock-sync client builds from four-timestamp exchanges with the same
+publisher. There is one path: a stream with any other basis, a missing or stale mapping, or a mapping that jumped
+during the take stops the feed with that reason instead of recording a guessed time. Arrival time is never used as
+capture time. A mapping carries its uncertainty (half the exchange round trip), not an accuracy claim about the
+sensor.
 
 Tracking times come from CaptureServer's monotonic clock, which agrees with this process's only when both run on
 one machine, so recording LiveKit video is refused unless CaptureServer's URL is a loopback address.
@@ -19,7 +22,6 @@
 import contextlib
 import ipaddress
 import logging
-import time
 from collections.abc import Callable, Mapping, Sequence
 from typing import Any
 from urllib.parse import urlparse
@@ -32,83 +34,18 @@
 
 logger = logging.getLogger("isaaccapture.egocap.livekit_recording")
 
-#: How long a measured pair of clock readings is reused. Unix and monotonic time only drift apart slowly (a slewing
-#: clock moves them well under a millisecond per second), so a larger change between two measurements is a step.
-_PAIR_MAX_AGE_S = 1.0
-#: An offset change below this is measurement noise or slew; above it, and above a few times the bracket's own
-#: uncertainty, the Unix clock stepped and the take's capture times can no longer be trusted.
-_STEP_FLOOR_S = 0.005
-_STEP_UNCERTAINTY_FACTOR = 4
 #: A frame older than this when it arrives, or stamped further than the lead below in the future, means the
 #: publisher's clock and this host's disagree grossly. This catches gross disagreement only, not millisecond error.
 _MAX_FRAME_AGE_S = 2.0
 _MAX_FRAME_LEAD_S = 0.05
 #: How long a published stream may send nothing before the take ends. Normal frame gaps are tens of milliseconds.
 _MAX_SILENCE_S = 5.0
-#: Readings per pair; the one read in the shortest span is the most trustworthy.
-_PAIR_ATTEMPTS = 3
 #: How long the room join may take before the take's start is refused.
 _JOIN_TIMEOUT_S = 15.0
 #: How long leaving the room may take before teardown moves on and lets the leave finish in the background.
 _LEAVE_TIMEOUT_S = 10.0
 
 
-class UnixClockMap:
-    """Converts Unix-time microseconds to this process's monotonic seconds, from a recently measured pair.
-
-    The pair is two clock readings taken back to back and refreshed about once a second, from the consumer's
-    thread and never from an SDK callback. It converts on this machine only and says nothing about whether the
-    publisher's clock agrees with this one. It keeps the uncertainty of its pair (half the bracketing span) and
-    flags a discontinuity of the Unix clock between two measurements (a heuristic, not proof of a step or of an
-    accuracy bound): `step_detected` stays set, because samples already mapped are never remapped with a newer
-    offset, and a map covers one take. Frames mapped between a step and its detection are already recorded with the
-    old offset.
-    """
-
-    step_detected = False
-    uncertainty_s: float | None = None
-
-    def __init__(
-        self,
-        *,
-        monotonic_ns: Callable[[], int] = time.monotonic_ns,
-        unix_ns: Callable[[], int] = time.time_ns,
-    ) -> None:
-        self._monotonic_ns = monotonic_ns
-        self._unix_ns = unix_ns
-        self._offset_s = 0.0
-        self._measured_at_ns: int | None = None
-
-    def monotonic_seconds(self, unix_us: int) -> float:
-        """The monotonic-clock time, in seconds, of the Unix time ``unix_us`` (microseconds)."""
-        now = self._monotonic_ns()
-        if self._measured_at_ns is None or now - self._measured_at_ns > _PAIR_MAX_AGE_S * 1e9:
-            self._measure()
-        return unix_us / 1e6 + self._offset_s
-
-    def _measure(self) -> None:
-        """Take the pair read in the shortest span: the Unix reading is taken between two monotonic ones."""
-        best: tuple[int, float] | None = None
-        for _ in range(_PAIR_ATTEMPTS):
-            before = self._monotonic_ns()
-            unix = self._unix_ns()
-            after = self._monotonic_ns()
-            span = after - before
-            if best is None or span < best[0]:
-                # The Unix reading happened somewhere in [before, after]; its midpoint is the best estimate.
-                best = (span, ((before + after) / 2 - unix) / 1e9)
-        assert best is not None
-        span_ns, offset_s = best
-        uncertainty_s = span_ns / 2e9
-        if self._measured_at_ns is not None:
-            bound_s = max(_STEP_FLOOR_S, _STEP_UNCERTAINTY_FACTOR * max(uncertainty_s, self.uncertainty_s or 0.0))
-            if abs(offset_s - self._offset_s) > bound_s:
-                self.step_detected = True
-        self._offset_s = offset_s
-        self.uncertainty_s = uncertainty_s
-        self._measured_at_ns = self._monotonic_ns()
-
-
 def is_loopback_url(url: str) -> bool:
     """Whether ``url`` names this machine: ``localhost`` or a loopback IP literal."""
     host = urlparse(url).hostname or ""
@@ -140,9 +77,10 @@ def unrecordable_reason(started: Any, capture_server_url: str | None = None) ->
                 f"LiveKit stream {stream.name!r}: recording needs CaptureServer on this machine "
                 f"(its clock must match tracking's), but it is at {capture_server_url!r}"
             )
-        if stream.timestamp_basis is not p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US:
+        if stream.timestamp_basis is not p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US:
             return (
-                f"LiveKit stream {stream.name!r}: its timestamps are not a capture time, so it cannot be recorded"
+                f"LiveKit stream {stream.name!r}: its timestamps are not a capture event on the publisher's "
+                "monotonic clock, so it cannot be recorded"
             )
         if None in (stream.width, stream.height, stream.fps):
             return f"LiveKit stream {stream.name!r}: width, height and fps must be configured to record it"
@@ -163,7 +101,6 @@ def __init__(
         ingress: RecordingIngress,
         source_names: Mapping[int, str],
         *,
-        clock_map: UnixClockMap | None = None,
         on_failure: Callable[[str], None] | None = None,
     ) -> None:
         missing = [s.name for s in streams if s.stream_id not in source_names]
@@ -173,7 +110,11 @@ def __init__(
         self._streams = {s.stream_id: s for s in streams}
         self._ingress = ingress
         self._source_names = dict(source_names)
-        self._clock_map = clock_map or UnixClockMap()
+        # The receiver was started with clock sync, so its client maps the publisher's clock onto this one.
+        clock_sync = receiver.clock_sync
+        if clock_sync is None:
+            raise ValueError("the receiver has no clock-sync client; start it with clock_sync=True")
+        self._clock = clock_sync
         self._on_failure = on_failure
         self._tasks: list[asyncio.Task[None]] = []
         self.failure: str | None = None
@@ -223,11 +164,9 @@ async def _run(self, stream_id: int) -> None:
         """Feed one stream until the take fails or the feed is stopped."""
         stream = self._streams[stream_id]
         source = self._source_names[stream_id]
-        if stream.timestamp_basis is not p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US:
+        if stream.timestamp_basis is not p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US:
             # Checked before any frame arrives: this stream cannot become recordable by waiting.
-            self._fail(
-                f"{stream.name}: its timestamps are not a capture time, so it cannot be aligned with tracking"
-            )
+            self._fail(f"{stream.name}: its timestamps are not a capture event on the publisher's monotonic clock")
             return
         while self.failure is None:
             try:
@@ -258,13 +197,18 @@ async def _run(self, stream_id: int) -> None:
             if frame.user_timestamp_us is None:
                 self._fail(f"{stream.name}: a frame arrived without the publisher's capture timestamp")
                 return
-            capture_time = self._clock_map.monotonic_seconds(frame.user_timestamp_us)
-            if self._clock_map.step_detected:
-                # Frames already recorded keep their mapping; none after the step is recorded with a guessed one.
+            # A mapping that jumped during the take, or went missing or stale, ends it: frames already recorded
+            # keep the mapping they were made under, and none after is recorded with a guessed one.
+            if self._clock.discontinuity:
+                self._fail(f"{stream.name}: the publisher's clock mapping jumped during the take")
+                return
+            mapping = self._clock.mapping()
+            if mapping is None:
                 self._fail(
-                    f"{stream.name}: this host's clock stepped during the take, so capture times are untrustworthy"
+                    f"{stream.name}: no current clock mapping from the publisher (its clock-sync replies stopped)"
                 )
                 return
+            capture_time = mapping.to_local_ns(frame.user_timestamp_us * 1000) / 1e9
             receive_time = frame.receive_time_ns / 1e9
             age = receive_time - capture_time
             if not -_MAX_FRAME_LEAD_S <= age <= _MAX_FRAME_AGE_S:
@@ -298,7 +242,7 @@ def recordable_livekit_streams(started: Any) -> tuple[p.LiveKitCameraStream, ...
         s
         for s in started.streams
         if isinstance(s, p.LiveKitCameraStream)
-        and s.timestamp_basis is p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+        and s.timestamp_basis is p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
         and None not in (s.width, s.height, s.fps)
     )
 
@@ -340,7 +284,7 @@ async def prepare(self) -> None:
         self._streams = tuple(self._recordable_streams())
         if not self._streams:
             return
-        receiver = LiveKitFrameReceiver(self._streams, self._make_token(self._streams[0].room))
+        receiver = LiveKitFrameReceiver(self._streams, self._make_token(self._streams[0].room), clock_sync=True)
         self._receiver = receiver
         try:
             await self._join(receiver)
@@ -355,6 +299,7 @@ async def prepare(self) -> None:
                         f"{stream.name}: frames are {frame.image.shape[1]}x{frame.image.shape[0]}, "
                         f"expected {stream.width}x{stream.height}"
                     )
+            await self._wait_for_mapping(receiver)
         except asyncio.TimeoutError as exc:
             await self.stop()
             raise RuntimeError("a LiveKit stream sent no frame before the recording could start") from exc
@@ -407,6 +352,17 @@ def _done(finished: asyncio.Future[None]) -> None:
 
         task.add_done_callback(_done)
 
+    async def _wait_for_mapping(self, receiver: LiveKitFrameReceiver) -> None:
+        """Wait for the publisher's first clock mapping; without one its capture times cannot be placed."""
+        clock_sync = receiver.clock_sync
+        deadline = asyncio.get_running_loop().time() + self._first_frame_timeout_s
+        while clock_sync is None or clock_sync.mapping() is None:
+            if asyncio.get_running_loop().time() >= deadline:
+                raise RuntimeError(
+                    "the publisher did not answer clock-sync requests, so its capture times cannot be used"
+                )
+            await asyncio.sleep(0.05)
+
     def start(self, ingress: RecordingIngress, on_failure: Callable[[str], None]) -> None:
         """Begin feeding the take's ingress with frames acquired from now on."""
         if self._receiver is None:
diff --git a/examples/egocap/capture_server/capture_server/livekit_streams.py b/examples/egocap/capture_server/capture_server/livekit_streams.py
index 77e182b828..ad44cecc05 100644
--- a/examples/egocap/capture_server/capture_server/livekit_streams.py
+++ b/examples/egocap/capture_server/capture_server/livekit_streams.py
@@ -31,6 +31,7 @@
     "monotonic_us": p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US,
     "processing_unix_us": p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US,
     "capture_unix_us": p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US,
+    "capture_monotonic_us": p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US,
 }
 _STREAM_KEYS = {"name", "track", "width", "height", "fps"}
 
diff --git a/examples/egocap/capture_server/capture_server/protocol.py b/examples/egocap/capture_server/capture_server/protocol.py
index 3b5c9fe7a0..e2dce6075c 100644
--- a/examples/egocap/capture_server/capture_server/protocol.py
+++ b/examples/egocap/capture_server/capture_server/protocol.py
@@ -202,7 +202,7 @@ class TimeUnit(IntEnum):
 
 
 class LiveKitTimestampBasis(IntEnum):
-    """What a LiveKit frame's ``user_timestamp_us`` means. Only the last is a capture time."""
+    """What a LiveKit frame's ``user_timestamp_us`` means. Only the capture bases name a capture event."""
 
     # The publisher host's monotonic clock in microseconds, read when the frame is processed. Not on any clock
     # this host can convert.
@@ -211,8 +211,13 @@ class LiveKitTimestampBasis(IntEnum):
     # later than capture by the capture and conversion delay.
     PUBLISHER_PROCESSING_UNIX_US = 2
     # Unix time in microseconds of the sensor's capture event, mapped from the sensor's own counter by a sender
-    # that has verified the mapping. The only basis a recording may treat as the frame's capture time.
+    # that has verified the mapping. Not accepted for synchronized recording: no Unix-clock mapping is part of the
+    # approved synchronization path, so the value is kept for the wire's sake only.
     SENSOR_CAPTURE_UNIX_US = 3
+    # The sensor's capture event in microseconds on the publisher host's monotonic clock, mapped from the sensor's
+    # own counter by a sender that has verified the mapping. The basis a recording accepts: the PC maps it onto its
+    # own monotonic clock with four-timestamp clock-sync exchanges answered by the same publisher.
+    SENSOR_CAPTURE_MONOTONIC_US = 4
 
 
 class SampleTimeSemantics(IntEnum):
diff --git a/examples/egocap/tools/livekit_orin_emulator.py b/examples/egocap/tools/livekit_orin_emulator.py
index 7b1dad4a88..4835ee1653 100644
--- a/examples/egocap/tools/livekit_orin_emulator.py
+++ b/examples/egocap/tools/livekit_orin_emulator.py
@@ -35,6 +35,9 @@
 
 #: Seconds between periodic stats lines.
 STATS_INTERVAL_S = 5.0
+#: Bases on the emulated publisher's monotonic clock, and bases that stamp the capture event (not processing time).
+_MONOTONIC_BASES = ("capture_monotonic_us", "monotonic_us")
+_CAPTURE_BASES = ("capture_monotonic_us", "capture_unix_us")
 #: Width of the frame-counter strip, in bits (one coloured block per bit).
 _COUNTER_BITS = 24
 
@@ -84,10 +87,11 @@ def build_parser() -> argparse.ArgumentParser:
     parser.add_argument("--fps", type=float, default=30.0)
     parser.add_argument(
         "--timestamp-basis",
-        choices=("capture_unix_us", "processing_unix_us", "monotonic_us"),
-        default="capture_unix_us",
-        help="what user_timestamp carries: this host's Unix time at frame generation, which for synthetic frames "
-        "is their capture time (recordable); the same reading declared as processing time; or monotonic time",
+        choices=("capture_monotonic_us", "capture_unix_us", "processing_unix_us", "monotonic_us"),
+        default="capture_monotonic_us",
+        help="what user_timestamp carries: the emulated Orin's monotonic time at frame generation, which for "
+        "synthetic frames is their capture event (the recordable basis, mapped by clock-sync); or the Unix time "
+        "of it; or the Unix time declared as processing time; or monotonic processing time",
     )
     parser.add_argument(
         "--clock-offset-ms",
@@ -144,8 +148,8 @@ def parse_args(argv: Sequence[str] | None = None) -> argparse.Namespace:
 
 
 def user_timestamp_us(basis: str) -> int:
-    """Returns now in microseconds on the chosen clock (a Unix basis, or ``monotonic_us``)."""
-    ns = time.monotonic_ns() if basis == "monotonic_us" else time.time_ns()
+    """Returns now in microseconds on the chosen clock (a Unix basis, or a monotonic one)."""
+    ns = time.monotonic_ns() if basis in _MONOTONIC_BASES else time.time_ns()
     return ns // 1000
 
 
@@ -184,7 +188,7 @@ def orin_monotonic_ns(self) -> int:
 
     def adjustment_us(self, basis: str, *, at_capture: bool) -> int:
         """Microseconds to add to this host's reading of ``basis`` to get the emulated Orin's stamp."""
-        offset_us = self.monotonic_offset_ns // 1000 if basis == "monotonic_us" else self.offset_us
+        offset_us = self.monotonic_offset_ns // 1000 if basis in _MONOTONIC_BASES else self.offset_us
         delay_us = self.pipeline_delay_us if at_capture else 0
         return round(offset_us + self._drift_us() - delay_us)
 
@@ -289,7 +293,7 @@ async def publish_stream(
         # The counter and a capture-time stamp are taken before the frame is synthesized, as a camera stamps at
         # capture; a processing-time stamp is taken once the frame is ready, as the real sender's is.
         capture_ns = capture_clock()
-        at_capture = args.timestamp_basis != "processing_unix_us"
+        at_capture = args.timestamp_basis in _CAPTURE_BASES
         timestamp_us = (
             user_timestamp_us(args.timestamp_basis) + clock.adjustment_us(args.timestamp_basis, at_capture=True)
             if at_capture

From 021d4fccaa9676fdb1f24dc53420f192e5ce741d Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:51:54 -0800
Subject: [PATCH 26/54] egocap: document the four-timestamp clock mapping and
 the recordable basis

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md | 77 ++++++++++++++++--------------
 1 file changed, 42 insertions(+), 35 deletions(-)

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index 3c33568e28..0b7b73278d 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -22,38 +22,43 @@ PC:   CaptureServer (--livekit-streams: where the streams are) -> egocap backend
 ```
 
 **Recording.** A LiveKit stream is saved with a take only when its entry gives `width`, `height` and `fps` and
-declares `timestamp_basis: capture_unix_us`, meaning the publisher stamps each frame with the mapped capture time of
-the sensor event. If any offered stream does not qualify, recording is refused with that stream's name (remove it
-from the streams file, or make it recordable); preview is unaffected. The native Orin sender stamps
-`processing_unix_us` (host time after capture and conversion), so with it recording is refused until the sensor's
-capture time is mapped. The recorder joins the room itself (it needs the same `LIVEKIT_API_KEY` and
-`LIVEKIT_API_SECRET`) and checks each stream's first frame against the configured size before a take starts. The
-recorder converts the publisher's Unix time to this machine's monotonic clock and applies one coarse check: a frame
-that is more than 2 s old on arrival, or stamped in the future, ends the take. That catches gross clock disagreement
-only; it does not prove the two machines' clocks agree to milliseconds. A step of this PC's own clock during a take is
-detected at the next pair refresh (about a second later, and only if it exceeds the larger of 5 ms and four times
-the pair's bracket uncertainty), and the take then fails: frames mapped between the step and its detection, and any
-smaller offset change, are not caught, so the take's timing claim cannot be stronger than that. A step on the Orin is
-not detected. Alignment
-with tracking also assumes the backend and CaptureServer share one machine's clock. A take that passes is not
-thereby proven aligned.
-
-**What recording from the real Orin still needs.** The native sender must publish `capture_unix_us`, the Unix time
-of the sensor's capture event. Its only capture-event clock is the SIPL frame capture counter (`frameCaptureTSC`),
-which NVIDIA's public SIPL documentation describes as raw ARM generic-timer ticks, not nanoseconds (the sender carries it
-as `capture_tsc`, an unscaled value). The deployed Orin's SIPL headers are not available
-here, so nothing about its units or event is verified. The evidence required, from a supported platform API and
-not from fitting measurements:
+declares `timestamp_basis: capture_monotonic_us`: the publisher stamps each frame with the sensor's capture event on
+the publisher's own monotonic clock. If any offered stream does not qualify, recording is refused with that stream's
+name (remove it from the streams file, or make it recordable); preview is unaffected. The native Orin sender
+declares processing time, so with it recording is refused until the sensor's capture time is mapped.
+
+There is one way to place the publisher's clock on this PC's, the four-timestamp exchange CloudXR uses. The recorder
+joins the room itself (it needs the same `LIVEKIT_API_KEY` and `LIVEKIT_API_SECRET`), and once a second sends the
+publisher a small request as a LiveKit data message on topic `isaaccapture.clock-sync`: little-endian `Q`, a
+sequence number and `t1` (this PC's monotonic ns); the publisher answers `R`, the sequence, `t1`, `t2` (its monotonic
+ns on receipt) and `t3` (its monotonic ns when replying); the recorder stamps `t4` on the reply. The round trip with
+the publisher's processing removed is `(t4 - t1) - (t3 - t2)` and the offset is `((t2 - t1) + (t3 - t4)) / 2`. The
+offset assumes both directions took equally long, so the mapping's uncertainty is half the round trip and nothing
+smaller is claimed. The best recent exchange is used; a mapping is withheld when its last exchange is more than 5 s
+old; and a new exchange that disagrees with the current mapping by more than the two uncertainties plus a 200 ppm
+drift allowance is a discontinuity. A take cannot start until the publisher has answered at least once, and ends if
+the mapping goes missing, goes stale or jumps; frames already recorded keep the mapping they were made under, and
+the mapping epochs are kept in memory (`ClockEstimator.history`) but not yet saved with the take. The recorder
+also applies one coarse check: a frame more than 2 s old on arrival, or stamped in the future, ends the take. A take
+that passes is not thereby proven aligned with tracking, which also assumes the backend and CaptureServer share one
+machine's clock. Browser display latency is not shown: it needs the same exchange between the PC and the browser and
+an exact match of the displayed frame to its capture stamp, neither of which exists yet.
+
+**What recording from the real Orin still needs.** The native sender must answer the clock-sync requests with its own
+monotonic clock and publish `capture_monotonic_us`, the sensor's capture event on that clock. Its only capture-event
+clock is the SIPL frame capture counter (`frameCaptureTSC`), which NVIDIA's public SIPL documentation describes as
+raw ARM generic-timer ticks, not nanoseconds (the sender carries it as `capture_tsc`, an unscaled value). The deployed
+Orin's SIPL headers are not available here, so nothing about its units or event is verified. The evidence required,
+from a supported platform API and not from fitting measurements:
 
 1. The counter's definition, units and event (which instant of the frame it marks) from the SIPL image-metadata
    documentation of the deployed release, and the TSC's definition and rate in the L4T documentation of the
    deployed JetPack. Record the exact header, SDK and L4T versions.
-2. A contemporaneous counter and host-clock reading from a supported API, so that a counter value can be placed on
-   `CLOCK_REALTIME` through one offset that is re-measured at a low rate, never per frame. Convert in the sender and
-   publish that time with the `capture_unix_us` basis, keeping the raw counter in the frame's user data.
-3. A time service between the Orin and the PC with the residual offset measured, and a physical event seen by both
-   the camera and a tracking device as the test of real alignment. The recorder's frame-age check only catches gross
-   disagreement.
+2. A contemporaneous counter and monotonic-clock reading from a supported API, so that a counter value can be placed
+   on `CLOCK_MONOTONIC` through one offset that is re-measured at a low rate, never per frame. Convert in the sender
+   and publish that time with the `capture_monotonic_us` basis, keeping the raw counter in the frame's user data.
+3. A physical event seen by both the camera and a tracking device as the test of real alignment, with the residual
+   offset, drift and jitter measured. The frame-age check only catches gross disagreement.
 
 `SENSING_TSC_PROBE=1` prints the capture counter beside the host clocks twice a second, off by default, as separate
 uncalibrated samples. The counter's units are unconfirmed, so they must not be subtracted, fitted or used as a mapping.
@@ -145,13 +150,15 @@ sender's pacing.
 uv run python tools/livekit_orin_emulator.py \
   --livekit-url=wss://LIVEKIT_HOST --livekit-token-file=join.token \
   --add-stream=sensor=0,livekit=sensing-left --add-stream=sensor=1,livekit=sensing-right \
-  --width=1280 --height=720 --fps=30 --timestamp-basis=capture_unix_us
+  --width=1280 --height=720 --fps=30 --timestamp-basis=capture_monotonic_us
 ```
 
-`--timestamp-basis=processing_unix_us` declares what the current native sender sends: processing time, which is not
-a capture time and is not recorded. `capture_unix_us` (the default) is honest here because the emulator is the
-camera: it stamps the frame when it generates it. `monotonic_us` sends the publisher's monotonic clock, also not
-recordable.
+`--timestamp-basis=capture_monotonic_us` (the default) is the recordable basis and is honest here because the emulator
+is the camera: it stamps the frame on its own emulated monotonic clock when it generates it, and answers the PC's
+clock-sync requests with that same clock. `--monotonic-offset-s`, `--clock-drift-ppm` and `--pipeline-delay-ms` give
+that clock a different boot time, a slow drift and a capture-to-publish delay, so the mapping has something real to
+find. `processing_unix_us` declares what the current native sender sends (processing time, not recorded);
+`capture_unix_us` and `monotonic_us` exist for tests of refusal and are not recordable.
 
 ## 6. The whole stack on one machine, with the emulator
 
@@ -165,14 +172,14 @@ livekit-server --dev --bind 127.0.0.1                    # signalling on ws://12
 # LiveKit token tool, signed with devkey/secret)
 uv run python tools/livekit_orin_emulator.py --livekit-url=ws://127.0.0.1:7880 --livekit-token-file=pub.token \
   --add-stream=sensor=0,livekit=sensing-left --add-stream=sensor=1,livekit=sensing-right \
-  --width=640 --height=480 --fps=15 --timestamp-basis=capture_unix_us
+  --width=640 --height=480 --fps=15 --timestamp-basis=capture_monotonic_us
 
 uv run capture-server --mock --livekit-streams streams.yaml
 LIVEKIT_API_KEY=devkey LIVEKIT_API_SECRET=secret uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
 ```
 
 `streams.yaml` names the room, the publisher and both tracks, with `width: 640`, `height: 480`, `fps: 15` and
-`timestamp_basis: capture_unix_us` (section 2). Open `http://127.0.0.1:8000/`: both tiles show live video, and
+`timestamp_basis: capture_monotonic_us` (section 2). Open `http://127.0.0.1:8000/`: both tiles show live video, and
 Record saves a take with the two cameras next to the mock tracking. A take recorded this way came out KEPT, with 91
 frames per camera over 6 s at the configured size and rate and increasing capture times.
 

From ddc7f873bad1c2d0626c02cb0bd4f0c60086dfe0 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:55:27 -0800
Subject: [PATCH 27/54] egocap: list the frame-callback fields the browser
 reports in the latency tooltip

Which of captureTime, rtpTimestamp, receiveTime and the others a browser
provides for WebRTC video varies, and the latency design depends on it; the
'latency unavailable' tooltip now names the fields the browser reports.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/frontend/src/LiveKitCameraTile.tsx | 9 ++++++++-
 1 file changed, 8 insertions(+), 1 deletion(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 878aa4ec2f..39a53fe133 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -54,6 +54,9 @@ export function LiveKitCameraTile({
   // Cumulative presented-frame count of the newest frame callback, and the count at the start of the window.
   const presentedRef = useRef<number | null>(null);
   const baselineRef = useRef<{ presented: number; at: number } | null>(null);
+  // Which fields this browser's frame callback reports (it varies by browser), to read off for the latency work.
+  const frameFieldsRef = useRef<string>("");
+  const [frameFields, setFrameFields] = useState<string>("");
   const [fpsLabel, setFpsLabel] = useState<string | null>(null);
   const [hasFrame, setHasFrame] = useState(false);
   const [stale, setStale] = useState(false);
@@ -89,6 +92,7 @@ export function LiveKitCameraTile({
       if (stopped) return;
       callbackId = element.requestVideoFrameCallback((_now, metadata) => {
         presentedRef.current = metadata.presentedFrames;
+        frameFieldsRef.current = Object.keys(metadata).sort().join(", ");
         markFrame();
         watchFrames();
       });
@@ -102,6 +106,7 @@ export function LiveKitCameraTile({
       const last = lastFrameAtRef.current;
       const isStale = last !== null && now - last > FRAME_STALE_AFTER_MS;
       if (isStale) setStale(true);
+      if (frameFieldsRef.current !== "") setFrameFields(frameFieldsRef.current);
       // Displayed rate: the change in the browser's own presented-frame count over the window, not a callback tally.
       const presented = presentedRef.current;
       if (!hasFrameCallback) {
@@ -149,7 +154,9 @@ export function LiveKitCameraTile({
         {fpsLabel !== null && (
           <span
             className="camera-stats"
-            title="No qualified capture time is associated with the displayed frame yet, so no latency is shown"
+            title={`No qualified capture time is associated with the displayed frame yet, so no latency is shown.${
+              frameFields === "" ? "" : ` This browser's frame callback reports: ${frameFields}.`
+            }`}
           >
             latency unavailable
           </span>

From 68ca82383331362bb375f14f5263944ec073b29f Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:56:31 -0800
Subject: [PATCH 28/54] egocap: test that the latency tooltip names the
 browser's frame-callback fields

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/LiveKitCameraTile.test.tsx   | 27 +++++++++++++++++--
 1 file changed, 25 insertions(+), 2 deletions(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index 8b1156cb95..1a7f52b7fb 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -7,7 +7,7 @@ import { act, cleanup, render, screen } from "@testing-library/react";
 import { LiveKitCameraTile, displayedFps } from "./LiveKitCameraTile";
 import { fakeTrack } from "./livekitTestDoubles";
 
-type FrameMetadata = { presentedFrames: number; captureTime?: number; expectedDisplayTime?: number };
+type FrameMetadata = { presentedFrames: number; [field: string]: number };
 let frameCallbacks: Array<(now: number, metadata: FrameMetadata) => void> = [];
 let presentedTotal = 0;
 
@@ -31,7 +31,7 @@ afterEach(() => {
 });
 
 /** Presents `frames` frames at once: the browser's cumulative presentedFrames grows by that much. */
-function presentFrame(frames = 1, times: { captureTime?: number; expectedDisplayTime?: number } = {}): void {
+function presentFrame(frames = 1, times: Record<string, number> = {}): void {
   presentedTotal += frames;
   const cbs = frameCallbacks;
   frameCallbacks = [];
@@ -295,6 +295,29 @@ describe("LiveKitCameraTile latency", () => {
     expect(statsTexts().some((t) => /\bms\b/.test(t))).toBe(false);
   });
 
+  it("lists the sorted frame-callback fields in the latency tooltip", () => {
+    renderTile();
+    presentFrame(1, { rtpTimestamp: 1, expectedDisplayTime: 2 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    presentFrame(30, { rtpTimestamp: 1, expectedDisplayTime: 2 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    const span = document.querySelectorAll(".camera-stats")[1];
+    expect(span.getAttribute("title")).toContain("reports: expectedDisplayTime, presentedFrames, rtpTimestamp.");
+  });
+
+  it("has no reports text in the tooltip before any frame", () => {
+    renderTile();
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    const span = document.querySelectorAll(".camera-stats")[1];
+    expect(span?.getAttribute("title") ?? "").not.toContain("reports:");
+  });
+
   it("keeps the fixed latency span beside 0 FPS for a stale stream", () => {
     renderTile();
     presentFrame(1, { captureTime: 1000, expectedDisplayTime: 1070 });

From f200542ef34e7e16220a290e95490ab85215b786 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 10:59:35 -0800
Subject: [PATCH 29/54] egocap frontend: livekit-client 2.19.2 for per-frame
 packet-trailer metadata

2.19.2 can extract the per-frame user timestamp and frame id the publisher
attaches (packetTrailer worker option, RemoteVideoTrack.lookupFrameMetadata
by RTP timestamp). The existing preview behaviour is unchanged: lint and the
frontend suite pass on it.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/frontend/package-lock.json | 51 ++++++++++++++--------
 examples/egocap/frontend/package.json      |  2 +-
 2 files changed, 33 insertions(+), 20 deletions(-)

diff --git a/examples/egocap/frontend/package-lock.json b/examples/egocap/frontend/package-lock.json
index 173182d2c6..30befa02e6 100644
--- a/examples/egocap/frontend/package-lock.json
+++ b/examples/egocap/frontend/package-lock.json
@@ -8,7 +8,7 @@
       "name": "egocap-web-frontend",
       "version": "0.1.0",
       "dependencies": {
-        "livekit-client": "2.9.7",
+        "livekit-client": "2.19.2",
         "react": "19.3.1",
         "react-dom": "19.3.1"
       },
@@ -305,9 +305,9 @@
       "license": "Apache-2.0"
     },
     "node_modules/@livekit/protocol": {
-      "version": "1.34.0",
-      "resolved": "https://registry.npmjs.org/@livekit/protocol/-/protocol-1.34.0.tgz",
-      "integrity": "sha512-bU7pCLAMRVTVZb1KSxA46q55bhOc4iATrY/gccy2/oX1D57tiZEI+8wGRWHeDwBb0UwnABu6JXzC4tTFkdsaOg==",
+      "version": "1.45.8",
+      "resolved": "https://registry.npmjs.org/@livekit/protocol/-/protocol-1.45.8.tgz",
+      "integrity": "sha512-Q+l57E7w/xxOBFVWzdX5rkAZO7ffyF+rlDzNUYq2SU114+5aTyCq+PK4unaEVDNd4952Af7wteKr3sOgasGuaA==",
       "license": "Apache-2.0",
       "dependencies": {
         "@bufbuild/protobuf": "^1.10.0"
@@ -660,6 +660,13 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/@types/dom-mediacapture-record": {
+      "version": "1.0.22",
+      "resolved": "https://registry.npmjs.org/@types/dom-mediacapture-record/-/dom-mediacapture-record-1.0.22.tgz",
+      "integrity": "sha512-mUMZLK3NvwRLcAAT9qmcK+9p7tpU2FHdDsntR3YI4+GY88XrgG4XiE7u1Q2LAN2/FZOz/tdMDC3GQCR4T8nFuw==",
+      "license": "MIT",
+      "peer": true
+    },
     "node_modules/@types/estree": {
       "version": "1.0.9",
       "resolved": "https://registry.npmjs.org/@types/estree/-/estree-1.0.9.tgz",
@@ -1334,6 +1341,15 @@
       "dev": true,
       "license": "MIT"
     },
+    "node_modules/jose": {
+      "version": "6.2.15",
+      "resolved": "https://registry.npmjs.org/jose/-/jose-6.2.15.tgz",
+      "integrity": "sha512-qdF6ewcZARtef63fJ9AKKZPgxw+t7USH6HLXYcD4CrdmSvDp79rpJSPFEKc90QBeGS63u1KQtN2MZQHC0yDIzA==",
+      "license": "MIT",
+      "funding": {
+        "url": "https://github.com/sponsors/panva"
+      }
+    },
     "node_modules/js-tokens": {
       "version": "4.0.0",
       "resolved": "https://registry.npmjs.org/js-tokens/-/js-tokens-4.0.0.tgz",
@@ -1644,20 +1660,23 @@
       }
     },
     "node_modules/livekit-client": {
-      "version": "2.9.7",
-      "resolved": "https://registry.npmjs.org/livekit-client/-/livekit-client-2.9.7.tgz",
-      "integrity": "sha512-a+Y76HE5k7IaFOpDnr14ON+VOAgh7cCjuBq8Loq5p5xHZzw+/cQyX/xPsMLU4lloKO5zGf45YZJYt/Egk1Xg+g==",
+      "version": "2.19.2",
+      "resolved": "https://registry.npmjs.org/livekit-client/-/livekit-client-2.19.2.tgz",
+      "integrity": "sha512-Kvk07QYDWRAbmYNLRll04ZIuxMQobW/oLPYnmR1kCy8GGHpU0gqyHf704Rz+29zfy8IJZRjKqeVbzGSKn9sumw==",
       "license": "Apache-2.0",
       "dependencies": {
         "@livekit/mutex": "1.1.1",
-        "@livekit/protocol": "1.34.0",
+        "@livekit/protocol": "1.45.8",
         "events": "^3.3.0",
+        "jose": "^6.1.0",
         "loglevel": "^1.9.2",
         "sdp-transform": "^2.15.0",
-        "ts-debounce": "^4.0.0",
         "tslib": "2.8.1",
         "typed-emitter": "^2.1.0",
-        "webrtc-adapter": "^9.0.1"
+        "webrtc-adapter": "9.0.5"
+      },
+      "peerDependencies": {
+        "@types/dom-mediacapture-record": "^1"
       }
     },
     "node_modules/loglevel": {
@@ -2049,12 +2068,6 @@
         "node": "^22.14.0 || >=24.0.0"
       }
     },
-    "node_modules/ts-debounce": {
-      "version": "4.0.0",
-      "resolved": "https://registry.npmjs.org/ts-debounce/-/ts-debounce-4.0.0.tgz",
-      "integrity": "sha512-+1iDGY6NmOGidq7i7xZGA4cm8DAa6fqdYcvO5Z6yBevH++Bdo9Qt/mN0TzHUgcCcKv1gmh9+W5dHqz8pMWbCbg==",
-      "license": "MIT"
-    },
     "node_modules/tslib": {
       "version": "2.8.1",
       "resolved": "https://registry.npmjs.org/tslib/-/tslib-2.8.1.tgz",
@@ -2300,9 +2313,9 @@
       }
     },
     "node_modules/webrtc-adapter": {
-      "version": "9.0.6",
-      "resolved": "https://registry.npmjs.org/webrtc-adapter/-/webrtc-adapter-9.0.6.tgz",
-      "integrity": "sha512-CHbl2ZQbxx164IgWRgzJno4hWtM4tFbRam1QfI3Yxhs3w/DvqluVxVWeXs3oL5/fbGkSNLKo0Ty5MgUWceNhog==",
+      "version": "9.0.5",
+      "resolved": "https://registry.npmjs.org/webrtc-adapter/-/webrtc-adapter-9.0.5.tgz",
+      "integrity": "sha512-U9vjByy/sK2OMXu5mmfuZFKTMIUQe34c0JXRO+oDrxJTsntdYT2iIFwYMOV7HhMTuktcZLGf2W1N/OcSf9ssWg==",
       "license": "BSD-3-Clause",
       "dependencies": {
         "sdp": "^3.2.0"
diff --git a/examples/egocap/frontend/package.json b/examples/egocap/frontend/package.json
index cd5ce66436..9d436a8258 100644
--- a/examples/egocap/frontend/package.json
+++ b/examples/egocap/frontend/package.json
@@ -11,7 +11,7 @@
     "test": "vitest run"
   },
   "dependencies": {
-    "livekit-client": "2.9.7",
+    "livekit-client": "2.19.2",
     "react": "19.3.1",
     "react-dom": "19.3.1"
   },

From 57317e3534ea230a675da189acfed1d97a38675a Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 11:01:34 -0800
Subject: [PATCH 30/54] egocap: capture-to-display latency from the publisher's
 per-frame stamp and a four-timestamp clock mapping

The preview now asks livekit-client for the per-frame packet-trailer metadata
(worker option), runs a four-timestamp exchange with the publisher over the
room's data channel (viewer tokens may publish data, never media), and each
tile matches the displayed frame's RTP timestamp to the publisher's capture
stamp, maps the frame's expected display time onto the publisher's clock, and
shows the window's median, 95th percentile and the mapping's uncertainty. A
frame with no stamp, a stream whose basis is not a capture event on the
publisher's monotonic clock, a stale mapping, or a window spanning a mapping
discontinuity has no figure. Tests follow.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/livekit_preview.py     |   3 +-
 examples/egocap/frontend/src/CameraGrid.tsx   |   2 +
 .../egocap/frontend/src/LiveKitCameraTile.tsx |  57 ++++++-
 .../egocap/frontend/src/captureProtocol.ts    |   6 +
 examples/egocap/frontend/src/clockExchange.ts | 151 ++++++++++++++++++
 .../egocap/frontend/src/displayLatency.ts     |  55 +++++++
 .../egocap/frontend/src/liveKitClockSync.ts   | 112 +++++++++++++
 .../egocap/frontend/src/livekitTestDoubles.ts |   4 +-
 .../egocap/frontend/src/useLiveKitPreview.ts  |  34 +++-
 9 files changed, 412 insertions(+), 12 deletions(-)
 create mode 100644 examples/egocap/frontend/src/clockExchange.ts
 create mode 100644 examples/egocap/frontend/src/displayLatency.ts
 create mode 100644 examples/egocap/frontend/src/liveKitClockSync.ts

diff --git a/examples/egocap/backend/egocap_web/livekit_preview.py b/examples/egocap/backend/egocap_web/livekit_preview.py
index 99566e3b50..f962f6b877 100644
--- a/examples/egocap/backend/egocap_web/livekit_preview.py
+++ b/examples/egocap/backend/egocap_web/livekit_preview.py
@@ -55,7 +55,8 @@ def subscriber_token(*, api_key: str, signing_key: str, room: str, now: int, ttl
             "roomJoin": True,
             "canSubscribe": True,
             "canPublish": False,
-            "canPublishData": False,
+            # Data messages only, for the clock-sync exchange with the publisher; it still cannot publish media.
+            "canPublishData": True,
         },
     }
     # Compact JSON: the signature covers exactly these bytes, so both sides must agree on them.
diff --git a/examples/egocap/frontend/src/CameraGrid.tsx b/examples/egocap/frontend/src/CameraGrid.tsx
index e79a257e5e..0d5569adce 100644
--- a/examples/egocap/frontend/src/CameraGrid.tsx
+++ b/examples/egocap/frontend/src/CameraGrid.tsx
@@ -265,6 +265,8 @@ export function CameraGrid({
             name={tile.name}
             track={tile.track}
             phase={livekit.phase}
+            clock={livekit.clock}
+            basis={tile.basis}
             // A LiveKit tile is a main view only when no CaptureServer camera claims that place: every head
             // camera when there are several, otherwise the first tile.
             primary={liveKitOnly && (equalHeads ? isHeadTile(tile.name) : index === 0)}
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 39a53fe133..5d595e09d3 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -12,6 +12,10 @@
 
 import { useEffect, useRef, useState } from "react";
 import type { RemoteTrack } from "livekit-client";
+import { latencySample, summarizeLatency } from "./displayLatency";
+import type { LatencySample } from "./displayLatency";
+import { TIMESTAMP_BASIS_CAPTURE_MONOTONIC_US } from "./captureProtocol";
+import type { LiveKitClockSync } from "./liveKitClockSync";
 import type { LiveKitPhase } from "./useLiveKitPreview";
 
 /** No decoded frame for this long means the picture is frozen. */
@@ -19,6 +23,8 @@ const FRAME_STALE_AFTER_MS = 3000;
 
 /** Seconds-long windows keep the rate readable and the state updates to once per second. */
 const FPS_WINDOW_MS = 1000;
+/** Recent latency samples kept per window. */
+const MAX_LATENCY_SAMPLES = 240;
 
 /** The displayed rate for one window from cumulative presented-frame counts; null for an invalid interval. */
 export function displayedFps(previous: { presented: number; at: number }, presented: number, at: number): number | null {
@@ -43,11 +49,17 @@ export function LiveKitCameraTile({
   track,
   phase,
   primary,
+  clock = null,
+  basis = 0,
 }: {
   name: string;
   track: RemoteTrack | null;
   phase: LiveKitPhase;
   primary: boolean;
+  /** Maps the publisher's monotonic clock onto this browser's; latency needs it. */
+  clock?: LiveKitClockSync | null;
+  /** What the stream's frame timestamp means; only a capture event on the publisher's monotonic clock counts. */
+  basis?: number;
 }) {
   const videoRef = useRef<HTMLVideoElement | null>(null);
   const lastFrameAtRef = useRef<number | null>(null);
@@ -57,6 +69,9 @@ export function LiveKitCameraTile({
   // Which fields this browser's frame callback reports (it varies by browser), to read off for the latency work.
   const frameFieldsRef = useRef<string>("");
   const [frameFields, setFrameFields] = useState<string>("");
+  // Latency of each presented frame in the current window, and the label shown for the last full window.
+  const latencySamplesRef = useRef<LatencySample[]>([]);
+  const [latencyLabel, setLatencyLabel] = useState<string>("latency unavailable");
   const [fpsLabel, setFpsLabel] = useState<string | null>(null);
   const [hasFrame, setHasFrame] = useState(false);
   const [stale, setStale] = useState(false);
@@ -67,6 +82,8 @@ export function LiveKitCameraTile({
     lastFrameAtRef.current = null;
     presentedRef.current = null;
     baselineRef.current = null;
+    latencySamplesRef.current = [];
+    setLatencyLabel("latency unavailable");
     setFpsLabel(null);
     setHasFrame(false);
     setStale(false);
@@ -93,6 +110,18 @@ export function LiveKitCameraTile({
       callbackId = element.requestVideoFrameCallback((_now, metadata) => {
         presentedRef.current = metadata.presentedFrames;
         frameFieldsRef.current = Object.keys(metadata).sort().join(", ");
+        // The publisher's stamp for exactly this frame, by its RTP timestamp, against its expected display time.
+        const rtp = (metadata as { rtpTimestamp?: number }).rtpTimestamp;
+        if (basis === TIMESTAMP_BASIS_CAPTURE_MONOTONIC_US && typeof rtp === "number" && "lookupFrameMetadata" in track) {
+          const stamp = (track as { lookupFrameMetadata: (a: { rtpTimestamp: number }) => { userTimestamp: bigint } | undefined })
+            .lookupFrameMetadata({ rtpTimestamp: rtp });
+          const sample = latencySample(metadata.expectedDisplayTime, stamp, clock?.mapping() ?? null);
+          if (sample !== null) {
+            const samples = latencySamplesRef.current;
+            samples.push(sample);
+            if (samples.length > MAX_LATENCY_SAMPLES) samples.shift();
+          }
+        }
         markFrame();
         watchFrames();
       });
@@ -109,15 +138,29 @@ export function LiveKitCameraTile({
       if (frameFieldsRef.current !== "") setFrameFields(frameFieldsRef.current);
       // Displayed rate: the change in the browser's own presented-frame count over the window, not a callback tally.
       const presented = presentedRef.current;
+      // The window's latency samples are summarized once and cleared; only those made under the clock mapping's
+      // current epoch count, so a window spanning a discontinuity has no figure.
+      const samples = latencySamplesRef.current;
+      latencySamplesRef.current = [];
+      const mapping = clock?.mapping() ?? null;
+      const summary = mapping === null ? null : summarizeLatency(samples, mapping.epoch);
+      const latencyText =
+        summary === null
+          ? "latency unavailable"
+          : `${summary.median.toFixed(0)} ms ±${summary.uncertaintyMs.toFixed(0)} (p95 ${summary.p95.toFixed(0)})`;
       if (!hasFrameCallback) {
         setFpsLabel("FPS unavailable");
+        setLatencyLabel("latency unavailable");
       } else if (document.hidden) {
         baselineRef.current = null; // a hidden tab's scheduling is not comparable: restart after it returns
         setFpsLabel("paused");
+        setLatencyLabel("latency unavailable");
       } else if (isStale) {
         baselineRef.current = null;
         setFpsLabel("0 FPS");
+        setLatencyLabel("latency unavailable");
       } else if (presented !== null) {
+        setLatencyLabel(latencyText);
         const previous = baselineRef.current;
         baselineRef.current = { presented, at: now };
         const fps = previous === null ? null : displayedFps(previous, presented, now);
@@ -128,8 +171,10 @@ export function LiveKitCameraTile({
     // paused on hide, and a fresh baseline (no figure) for the first window after it returns.
     const onVisibility = (): void => {
       baselineRef.current = null;
+      latencySamplesRef.current = [];
       if (document.hidden) {
         setFpsLabel("paused");
+        setLatencyLabel("latency unavailable");
       }
     };
     document.addEventListener("visibilitychange", onVisibility);
@@ -154,11 +199,15 @@ export function LiveKitCameraTile({
         {fpsLabel !== null && (
           <span
             className="camera-stats"
-            title={`No qualified capture time is associated with the displayed frame yet, so no latency is shown.${
-              frameFields === "" ? "" : ` This browser's frame callback reports: ${frameFields}.`
-            }`}
+            title={
+              latencyLabel === "latency unavailable"
+                ? `No latency for the displayed frame: it needs the publisher's per-frame capture stamp (matched by RTP timestamp), a current clock mapping to the publisher, and a stream whose timestamp is a capture event on the publisher's monotonic clock.${
+                    frameFields === "" ? "" : ` This browser's frame callback reports: ${frameFields}.`
+                  }`
+                : "Capture event on the publisher's clock to the frame's expected display on this page, including receive, decode and render; ± is half the clock-exchange round trip plus this browser's timer resolution"
+            }
           >
-            latency unavailable
+            {latencyLabel}
           </span>
         )}
       </figcaption>
diff --git a/examples/egocap/frontend/src/captureProtocol.ts b/examples/egocap/frontend/src/captureProtocol.ts
index cc9633b54a..1b8f77031a 100644
--- a/examples/egocap/frontend/src/captureProtocol.ts
+++ b/examples/egocap/frontend/src/captureProtocol.ts
@@ -265,8 +265,13 @@ export interface LiveKitStreamDescriptor {
   /** Participant identity of the camera host; a track name is only unique within one participant. */
   publisher: string;
   track: string;
+  /** What the publisher's frame timestamp means (the backend's LiveKitTimestampBasis value). */
+  timestamp_basis: number;
 }
 
+/** LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US: the capture event on the publisher's monotonic clock. */
+export const TIMESTAMP_BASIS_CAPTURE_MONOTONIC_US = 4;
+
 export type StreamDescriptor = TrackingStreamDescriptor | CameraStreamDescriptor | LiveKitStreamDescriptor;
 
 /** Validates every field's extent is within payload_size and that no two
@@ -349,6 +354,7 @@ function parseStreamDescriptor(value: unknown, field: string): StreamDescriptor
       room: expectString(value.room, `${field}.room`),
       publisher: expectString(value.publisher, `${field}.publisher`),
       track: expectString(value.track, `${field}.track`),
+      timestamp_basis: expectBoundedNonnegativeInt(value.timestamp_basis, `${field}.timestamp_basis`, 255),
     };
   }
   // kind === StreamKind.IMAGE (the only remaining value expectEnum(StreamKind, ...) allows)
diff --git a/examples/egocap/frontend/src/clockExchange.ts b/examples/egocap/frontend/src/clockExchange.ts
new file mode 100644
index 0000000000..cc12064fac
--- /dev/null
+++ b/examples/egocap/frontend/src/clockExchange.ts
@@ -0,0 +1,151 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+/**
+ * Maps a remote machine's monotonic clock onto the browser's from four-timestamp exchanges, the same pattern and
+ * policy as the backend's `clock_exchange.py` (see its docstring): t1 and t4 are read on this side, t2 and t3 on the
+ * remote, and the offset is ((t2 - t1) + (t3 - t4)) / 2 with half the round trip as its uncertainty. The browser's
+ * own timer is coarser than the remote's, so its resolution is added to the uncertainty. All times are integer
+ * nanoseconds (BigInt); the offset is remote minus local.
+ */
+
+export interface Exchange {
+  t1: bigint;
+  t2: bigint;
+  t3: bigint;
+  t4: bigint;
+}
+
+export interface ClockMapping {
+  /** Changes when the estimator starts over or finds a discontinuity. */
+  epoch: number;
+  /** Remote minus local, in ns. */
+  offsetNs: bigint;
+  rttNs: bigint;
+  /** Half the round trip plus this browser's timer resolution: the largest error unknown asymmetry can cause. */
+  uncertaintyNs: bigint;
+  /** Local time at which the exchange behind this mapping completed. */
+  acceptedAtNs: bigint;
+}
+
+const DEFAULT_MAX_RTT_NS = 250_000_000n;
+const DEFAULT_STALE_AFTER_NS = 5_000_000_000n;
+const DEFAULT_WINDOW = 8;
+/** Relative rate difference tolerated between two mappings, in parts per million. */
+const DEFAULT_DRIFT_ALLOWANCE_PPM = 200n;
+
+export function rttNs(e: Exchange): bigint {
+  return e.t4 - e.t1 - (e.t3 - e.t2);
+}
+
+export function offsetNs(e: Exchange): bigint {
+  // Floor division like the backend's // so both sides agree on negative offsets.
+  const sum = e.t2 - e.t1 + (e.t3 - e.t4);
+  return sum >= 0n ? sum / 2n : -((-sum + 1n) / 2n);
+}
+
+export function wellFormed(e: Exchange): boolean {
+  return e.t4 >= e.t1 && e.t3 >= e.t2 && rttNs(e) >= 0n;
+}
+
+/** The remote-clock time of a local-clock reading. */
+export function toRemoteNs(mapping: ClockMapping, localNs: bigint): bigint {
+  return localNs + mapping.offsetNs;
+}
+
+export class ClockEstimator {
+  private recent: Exchange[] = [];
+  private epoch = 1;
+  private current: ClockMapping | null = null;
+  /** Set, and left set, when a new exchange disagrees with the current mapping by more than it can explain. */
+  discontinuity = false;
+
+  constructor(
+    private readonly timerResolutionNs: bigint = 0n,
+    private readonly maxRttNs: bigint = DEFAULT_MAX_RTT_NS,
+    private readonly staleAfterNs: bigint = DEFAULT_STALE_AFTER_NS,
+    private readonly window: number = DEFAULT_WINDOW,
+  ) {}
+
+  /** Starts over for a restarted remote: the old mapping no longer applies. */
+  reset(): void {
+    this.recent = [];
+    this.current = null;
+    this.epoch += 1;
+  }
+
+  /** Takes one exchange into account; returns why it was rejected, or null when it was accepted. */
+  add(exchange: Exchange): string | null {
+    if (!wellFormed(exchange)) return "malformed exchange";
+    if (rttNs(exchange) > this.maxRttNs) return "round trip too long";
+    const previous = this.current;
+    const newest = this.mappingOf(exchange);
+    let candidate: ClockMapping;
+    if (previous !== null && this.disagrees(previous, newest)) {
+      // The clocks moved: judged on the newest exchange, so a jump is seen at once.
+      this.discontinuity = true;
+      this.epoch += 1;
+      this.recent = [exchange];
+      candidate = this.mappingOf(exchange);
+    } else {
+      this.recent.push(exchange);
+      if (this.recent.length > this.window) this.recent.shift();
+      // Lowest round trip wins; the newest on a tie, so a steady link stays fresh.
+      let best = this.recent[0];
+      for (const e of this.recent) {
+        if (rttNs(e) < rttNs(best) || (rttNs(e) === rttNs(best) && e.t4 > best.t4)) best = e;
+      }
+      candidate = this.mappingOf(best);
+    }
+    this.current = candidate;
+    return null;
+  }
+
+  /** The current mapping, or null when there is none yet or the last exchange is stale at `nowNs`. */
+  mapping(nowNs: bigint): ClockMapping | null {
+    const current = this.current;
+    if (current === null || nowNs - current.acceptedAtNs > this.staleAfterNs) return null;
+    return current;
+  }
+
+  private mappingOf(e: Exchange): ClockMapping {
+    return {
+      epoch: this.epoch,
+      offsetNs: offsetNs(e),
+      rttNs: rttNs(e),
+      uncertaintyNs: rttNs(e) / 2n + this.timerResolutionNs,
+      acceptedAtNs: e.t4,
+    };
+  }
+
+  private disagrees(previous: ClockMapping, candidate: ClockMapping): boolean {
+    const elapsed = candidate.acceptedAtNs > previous.acceptedAtNs ? candidate.acceptedAtNs - previous.acceptedAtNs : 0n;
+    const allowed = previous.uncertaintyNs + candidate.uncertaintyNs + (elapsed * DEFAULT_DRIFT_ALLOWANCE_PPM) / 1_000_000n;
+    const delta = candidate.offsetNs - previous.offsetNs;
+    return (delta < 0n ? -delta : delta) > allowed;
+  }
+}
+
+/** Little-endian messages shared with the publisher: request `Q`, sequence, t1; reply `R`, sequence, t1, t2, t3. */
+export const CLOCK_SYNC_TOPIC = "isaaccapture.clock-sync";
+
+export function encodeRequest(sequence: number, t1: bigint): Uint8Array {
+  const bytes = new Uint8Array(13);
+  const view = new DataView(bytes.buffer);
+  bytes[0] = "Q".charCodeAt(0);
+  view.setUint32(1, sequence >>> 0, true);
+  view.setBigInt64(5, t1, true);
+  return bytes;
+}
+
+export function decodeReply(data: Uint8Array): { sequence: number; t1: bigint; t2: bigint; t3: bigint } | null {
+  if (data.byteLength !== 29 || data[0] !== "R".charCodeAt(0)) return null;
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  return {
+    sequence: view.getUint32(1, true),
+    t1: view.getBigInt64(5, true),
+    t2: view.getBigInt64(13, true),
+    t3: view.getBigInt64(21, true),
+  };
+}
diff --git a/examples/egocap/frontend/src/displayLatency.ts b/examples/egocap/frontend/src/displayLatency.ts
new file mode 100644
index 0000000000..b7824c1427
--- /dev/null
+++ b/examples/egocap/frontend/src/displayLatency.ts
@@ -0,0 +1,55 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+/**
+ * Capture-to-display latency of one presented video frame: the publisher's capture stamp for exactly that frame,
+ * matched by the frame's RTP timestamp, against the frame's expected display time, both expressed on the
+ * publisher's clock through the four-timestamp mapping. A frame with no matching stamp, or with no current
+ * mapping, has no latency: nothing is ever matched to the nearest frame.
+ */
+
+import { toRemoteNs } from "./clockExchange";
+import type { ClockMapping } from "./clockExchange";
+
+export interface LatencySample {
+  ms: number;
+  /** The clock mapping epoch the sample was made under; a window mixing epochs is not summarized. */
+  epoch: number;
+  /** Half the exchange round trip plus the browser's timer resolution, in ms. */
+  uncertaintyMs: number;
+}
+
+export interface FrameStamp {
+  userTimestamp: bigint;
+}
+
+/**
+ * @param expectedDisplayTime The frame's expected display time (ms, the page's performance.now() timeline).
+ * @param stamp The publisher's stamp for this frame in microseconds on the publisher's clock, if it has one.
+ */
+export function latencySample(
+  expectedDisplayTime: number,
+  stamp: FrameStamp | undefined,
+  mapping: ClockMapping | null,
+): LatencySample | null {
+  if (stamp === undefined || mapping === null || !Number.isFinite(expectedDisplayTime)) return null;
+  const displayRemote = toRemoteNs(mapping, BigInt(Math.round(expectedDisplayTime * 1e6)));
+  const ms = Number(displayRemote - stamp.userTimestamp * 1000n) / 1e6;
+  const uncertaintyMs = Number(mapping.uncertaintyNs) / 1e6;
+  // Display cannot precede capture; a value below zero by more than the uncertainty is not a measurement.
+  if (!Number.isFinite(ms) || ms < -uncertaintyMs) return null;
+  return { ms, epoch: mapping.epoch, uncertaintyMs };
+}
+
+/** Median and 95th percentile of the samples made under `epoch`, and the largest uncertainty among them. */
+export function summarizeLatency(
+  samples: LatencySample[],
+  epoch: number,
+): { median: number; p95: number; uncertaintyMs: number } | null {
+  const own = samples.filter((s) => s.epoch === epoch);
+  if (own.length === 0) return null;
+  const sorted = own.map((s) => s.ms).sort((a, b) => a - b);
+  const at = (q: number): number => sorted[Math.min(sorted.length - 1, Math.floor(q * sorted.length))];
+  return { median: at(0.5), p95: at(0.95), uncertaintyMs: Math.max(...own.map((s) => s.uncertaintyMs)) };
+}
diff --git a/examples/egocap/frontend/src/liveKitClockSync.ts b/examples/egocap/frontend/src/liveKitClockSync.ts
new file mode 100644
index 0000000000..15a6b267f3
--- /dev/null
+++ b/examples/egocap/frontend/src/liveKitClockSync.ts
@@ -0,0 +1,112 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+/**
+ * Keeps a clock mapping between this browser and a LiveKit publisher, from four-timestamp exchanges sent as small
+ * data messages addressed to the publisher only, once a second. It rides the room connection the preview already
+ * has and never the video path. A reply that does not match an outstanding request (sequence and t1) is ignored.
+ */
+
+import { RoomEvent } from "livekit-client";
+import type { Room } from "livekit-client";
+import { CLOCK_SYNC_TOPIC, ClockEstimator, decodeReply, encodeRequest } from "./clockExchange";
+import type { ClockMapping } from "./clockExchange";
+
+const INTERVAL_MS = 1000;
+const MAX_OUTSTANDING = 16;
+
+/** This browser's monotonic clock in integer nanoseconds. */
+export function browserNowNs(): bigint {
+  return BigInt(Math.round(performance.now() * 1e6));
+}
+
+/**
+ * The smallest step this browser's timer takes, in ns. Browsers coarsen performance.now(), and that is an error
+ * source in every exchange. When no step is seen within a short window the timer is coarser than the window
+ * allows measuring, and a deliberately large resolution is reported instead of a flattering small one.
+ */
+export function measureTimerResolutionNs(now: () => number = () => performance.now()): bigint {
+  const windowMs = 30;
+  const start = now();
+  let last = start;
+  let best = Number.POSITIVE_INFINITY;
+  let steps = 0;
+  while (steps < 5 && now() - start < windowMs) {
+    const t = now();
+    if (t !== last) {
+      best = Math.min(best, t - last);
+      last = t;
+      steps += 1;
+    }
+  }
+  return steps >= 2 ? BigInt(Math.round(best * 1e6)) : 100_000_000n;
+}
+
+export class LiveKitClockSync {
+  readonly estimator: ClockEstimator;
+  private outstanding = new Map<number, bigint>();
+  private sequence = 0;
+  private timer: ReturnType<typeof setInterval> | null = null;
+
+  constructor(
+    private readonly room: Room,
+    private readonly publisher: string,
+    private readonly nowNs: () => bigint = browserNowNs,
+    timerResolutionNs: bigint = measureTimerResolutionNs(),
+  ) {
+    this.estimator = new ClockEstimator(timerResolutionNs);
+  }
+
+  start(): void {
+    this.room.on(RoomEvent.DataReceived, this.onData);
+    void this.sendRequest();
+    this.timer = setInterval(() => void this.sendRequest(), INTERVAL_MS);
+  }
+
+  stop(): void {
+    if (this.timer !== null) clearInterval(this.timer);
+    this.timer = null;
+    this.room.off(RoomEvent.DataReceived, this.onData);
+  }
+
+  /** The publisher-to-browser clock mapping, or null when there is none yet or it is stale. */
+  mapping(): ClockMapping | null {
+    return this.estimator.mapping(this.nowNs());
+  }
+
+  get discontinuity(): boolean {
+    return this.estimator.discontinuity;
+  }
+
+  private readonly onData = (payload: Uint8Array, participant?: { identity: string }, _kind?: unknown, topic?: string): void => {
+    const t4 = this.nowNs(); // first, so it is as close to the receipt as software allows
+    if (topic !== CLOCK_SYNC_TOPIC || participant?.identity !== this.publisher) return;
+    const reply = decodeReply(payload);
+    if (reply === null) return;
+    if (this.outstanding.get(reply.sequence) !== reply.t1) return; // not an answer to a request of ours
+    this.outstanding.delete(reply.sequence);
+    this.estimator.add({ t1: reply.t1, t2: reply.t2, t3: reply.t3, t4 });
+  };
+
+  private async sendRequest(): Promise<void> {
+    this.sequence = (this.sequence + 1) >>> 0;
+    const sequence = this.sequence;
+    while (this.outstanding.size >= MAX_OUTSTANDING) {
+      const oldest = this.outstanding.keys().next().value as number;
+      this.outstanding.delete(oldest);
+    }
+    try {
+      // t1 is read as late as possible, immediately before the send.
+      const t1 = this.nowNs();
+      this.outstanding.set(sequence, t1);
+      await this.room.localParticipant.publishData(encodeRequest(sequence, t1), {
+        reliable: false,
+        destinationIdentities: [this.publisher],
+        topic: CLOCK_SYNC_TOPIC,
+      });
+    } catch {
+      // A failed send just means no reply; the mapping goes stale, which the consumer treats as unavailable.
+    }
+  }
+}
diff --git a/examples/egocap/frontend/src/livekitTestDoubles.ts b/examples/egocap/frontend/src/livekitTestDoubles.ts
index aea6afbef5..7a7d294373 100644
--- a/examples/egocap/frontend/src/livekitTestDoubles.ts
+++ b/examples/egocap/frontend/src/livekitTestDoubles.ts
@@ -60,6 +60,6 @@ export function publication(name: string): any {
 }
 
 export const STREAMS: LiveKitStreamDescriptor[] = [
-  { kind: "livekit_camera", stream_id: 16, name: "Head left", url: "wss://lk", room: "r", publisher: "orin", track: "left" },
-  { kind: "livekit_camera", stream_id: 17, name: "Head right", url: "wss://lk", room: "r", publisher: "orin", track: "right" },
+  { kind: "livekit_camera", stream_id: 16, name: "Head left", url: "wss://lk", room: "r", publisher: "orin", track: "left", timestamp_basis: 4 },
+  { kind: "livekit_camera", stream_id: 17, name: "Head right", url: "wss://lk", room: "r", publisher: "orin", track: "right", timestamp_basis: 4 },
 ];
diff --git a/examples/egocap/frontend/src/useLiveKitPreview.ts b/examples/egocap/frontend/src/useLiveKitPreview.ts
index f9974c531d..c60d1c63eb 100644
--- a/examples/egocap/frontend/src/useLiveKitPreview.ts
+++ b/examples/egocap/frontend/src/useLiveKitPreview.ts
@@ -15,6 +15,7 @@ import { Room, RoomEvent, Track } from "livekit-client";
 import type { RemoteParticipant, RemoteTrack } from "livekit-client";
 import type { LiveKitStreamDescriptor } from "./captureProtocol";
 import { fetchLiveKitToken } from "./livekitPreview";
+import { LiveKitClockSync } from "./liveKitClockSync";
 
 /** Delay before a new attempt after a failed connect or a full disconnect. */
 const RETRY_DELAY_MS = 3000;
@@ -23,6 +24,8 @@ export type LiveKitPhase = "idle" | "connecting" | "connected" | "reconnecting"
 
 export interface LiveKitTile {
   name: string;
+  /** What the stream's frame timestamp means (the backend's timestamp basis value). */
+  basis: number;
   /** The subscribed video track, or null while the camera host has not published it. */
   track: RemoteTrack | null;
 }
@@ -33,13 +36,15 @@ export interface LiveKitPreviewState {
   message: string | null;
   /** One entry per offered stream, in the order offered; empty when nothing is offered. */
   tiles: LiveKitTile[];
+  /** Maps the publisher's monotonic clock onto this browser's; null until connected. */
+  clock: LiveKitClockSync | null;
 }
 
-const IDLE: LiveKitPreviewState = { phase: "idle", message: null, tiles: [] };
+const IDLE: LiveKitPreviewState = { phase: "idle", message: null, tiles: [], clock: null };
 
 /** The offered streams with the given subscribed tracks filled in by track name. */
 function tilesFor(streams: LiveKitStreamDescriptor[], tracks: Map<string, RemoteTrack>): LiveKitTile[] {
-  return streams.map((s) => ({ name: s.name, track: tracks.get(s.track) ?? null }));
+  return streams.map((s) => ({ name: s.name, basis: s.timestamp_basis, track: tracks.get(s.track) ?? null }));
 }
 
 /**
@@ -62,6 +67,8 @@ export function useLiveKitPreview(streams: LiveKitStreamDescriptor[]): LiveKitPr
     let cancelled = false;
     let retryTimer: ReturnType<typeof setTimeout> | null = null;
     let room: Room | null = null;
+    let clock: LiveKitClockSync | null = null;
+    let worker: Worker | null = null;
     const controller = new AbortController();
 
     function scheduleRetry(): void {
@@ -72,16 +79,24 @@ export function useLiveKitPreview(streams: LiveKitStreamDescriptor[]): LiveKitPr
       }, RETRY_DELAY_MS);
     }
 
+    function releaseConnectionResources(): void {
+      clock?.stop();
+      clock = null;
+      worker?.terminate();
+      worker = null;
+    }
+
     function fail(message: string): void {
       if (cancelled) return;
-      setState({ phase: "error", message, tiles: tilesFor(offered, new Map()) });
+      releaseConnectionResources();
+      setState({ phase: "error", message, tiles: tilesFor(offered, new Map()), clock: null });
       scheduleRetry();
     }
 
     async function attempt(): Promise<void> {
       const tracks = new Map<string, RemoteTrack>();
       const publish = (phase: LiveKitPhase): void => {
-        if (!cancelled) setState({ phase, message: null, tiles: tilesFor(offered, tracks) });
+        if (!cancelled) setState({ phase, message: null, tiles: tilesFor(offered, tracks), clock });
       };
       publish("connecting");
       let token: string;
@@ -105,7 +120,13 @@ export function useLiveKitPreview(streams: LiveKitStreamDescriptor[]): LiveKitPr
         }
       };
 
-      const next = new Room();
+      // The worker strips the per-frame metadata trailer off encoded video; without one (no Worker support) the
+      // room still works and latency simply stays unavailable.
+      worker =
+        typeof Worker === "undefined"
+          ? null
+          : new Worker(new URL("livekit-client/packet-trailer-worker", import.meta.url), { type: "module" });
+      const next = new Room(worker === null ? undefined : { packetTrailer: { worker } });
       room = next;
       next
         .on(RoomEvent.TrackSubscribed, (track, publication, participant) => {
@@ -147,6 +168,8 @@ export function useLiveKitPreview(streams: LiveKitStreamDescriptor[]): LiveKitPr
       }
       // Tracks published before we joined arrive here rather than through TrackSubscribed.
       next.remoteParticipants.forEach(adopt);
+      clock = new LiveKitClockSync(next, publisher);
+      clock.start();
       publish("connected");
     }
 
@@ -157,6 +180,7 @@ export function useLiveKitPreview(streams: LiveKitStreamDescriptor[]): LiveKitPr
       controller.abort();
       if (retryTimer !== null) clearTimeout(retryTimer);
       // Detaches every track and closes the connection; the Disconnected handler above is a no-op once cancelled.
+      releaseConnectionResources();
       void room?.disconnect();
       room = null;
     };

From 4b4cf73e3ca27222f2a0f0f0e3e7959b99011a8a Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 11:03:37 -0800
Subject: [PATCH 31/54] egocap: judge clock-mapping staleness by the newest
 exchange; port the recording tests to the four-timestamp path

A mapping is stale when no exchange has arrived within the limit, not when the
best exchange in the window is old, which made a healthy jittery link go
stale (Python and browser estimators). The recording, source, app, receiver,
loader and emulator tests move to the monotonic capture basis and the clock
mapping, UnixClockMap's tests are removed, and the synthetic timeline is one
shared event timeline for a camera and a glove-like source, each with its own
clock and delays, mapped by the real estimator.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/clock_exchange.py      |   9 +-
 examples/egocap/frontend/src/clockExchange.ts |   6 +-
 .../backend/test_app_livekit_recording.py     |  11 +-
 .../tests/backend/test_livekit_clock_sync.py  | 208 +++++++
 .../tests/backend/test_livekit_preview.py     |   4 +-
 .../tests/backend/test_livekit_receiver.py    |   4 +-
 .../tests/backend/test_livekit_recording.py   | 287 +++-------
 .../backend/test_livekit_recording_source.py  |  51 +-
 .../tests/backend/test_synthetic_timeline.py  | 510 +++++++++++++-----
 .../capture_server/test_livekit_streams.py    |   9 +-
 .../tests/tools/test_livekit_orin_emulator.py |  26 +-
 11 files changed, 761 insertions(+), 364 deletions(-)
 create mode 100644 examples/egocap/tests/backend/test_livekit_clock_sync.py

diff --git a/examples/egocap/backend/egocap_web/clock_exchange.py b/examples/egocap/backend/egocap_web/clock_exchange.py
index 5d49900c52..375ce6736e 100644
--- a/examples/egocap/backend/egocap_web/clock_exchange.py
+++ b/examples/egocap/backend/egocap_web/clock_exchange.py
@@ -91,6 +91,9 @@ def __init__(
         self._recent: deque[Exchange] = deque(maxlen=window)
         self._epoch = 1
         self._current: ClockMapping | None = None
+        #: Local time of the newest accepted exchange: staleness is about whether replies are still arriving, not
+        #: about how old the best exchange in the window is.
+        self._newest_ns: int | None = None
         #: Every mapping adopted, oldest first, so a take can record the epochs and quality it was made under.
         self.history: list[ClockMapping] = []
         #: Set, and left set, when a new best mapping disagrees with the last by more than their uncertainties and
@@ -101,6 +104,7 @@ def reset(self) -> None:
         """Start over, for a new source session or a restarted remote: the old mapping no longer applies."""
         self._recent.clear()
         self._current = None
+        self._newest_ns = None
         self._epoch += 1
 
     def add(self, exchange: Exchange) -> str | None:
@@ -110,6 +114,7 @@ def add(self, exchange: Exchange) -> str | None:
         if exchange.rtt_ns > self._max_rtt_ns:
             return "round trip too long"
         previous = self._current
+        self._newest_ns = exchange.t4
         newest = self._mapping_of(exchange)
         if previous is not None and self._disagrees(previous, newest):
             # Not a refinement: the clocks moved. Judged on the newest exchange, not on the best of the window, so
@@ -131,9 +136,9 @@ def add(self, exchange: Exchange) -> str | None:
         return None
 
     def mapping(self, now_ns: int) -> ClockMapping | None:
-        """The current mapping, or None when there is none yet or the last exchange is stale at ``now_ns``."""
+        """The current mapping, or None when there is none yet or no exchange arrived within the stale limit."""
         current = self._current
-        if current is None or now_ns - current.accepted_at_ns > self._stale_after_ns:
+        if current is None or self._newest_ns is None or now_ns - self._newest_ns > self._stale_after_ns:
             return None
         return current
 
diff --git a/examples/egocap/frontend/src/clockExchange.ts b/examples/egocap/frontend/src/clockExchange.ts
index cc12064fac..d631d4dd77 100644
--- a/examples/egocap/frontend/src/clockExchange.ts
+++ b/examples/egocap/frontend/src/clockExchange.ts
@@ -58,6 +58,8 @@ export class ClockEstimator {
   private recent: Exchange[] = [];
   private epoch = 1;
   private current: ClockMapping | null = null;
+  /** Local time of the newest accepted exchange: staleness is about replies still arriving. */
+  private newestNs: bigint | null = null;
   /** Set, and left set, when a new exchange disagrees with the current mapping by more than it can explain. */
   discontinuity = false;
 
@@ -72,6 +74,7 @@ export class ClockEstimator {
   reset(): void {
     this.recent = [];
     this.current = null;
+    this.newestNs = null;
     this.epoch += 1;
   }
 
@@ -80,6 +83,7 @@ export class ClockEstimator {
     if (!wellFormed(exchange)) return "malformed exchange";
     if (rttNs(exchange) > this.maxRttNs) return "round trip too long";
     const previous = this.current;
+    this.newestNs = exchange.t4;
     const newest = this.mappingOf(exchange);
     let candidate: ClockMapping;
     if (previous !== null && this.disagrees(previous, newest)) {
@@ -105,7 +109,7 @@ export class ClockEstimator {
   /** The current mapping, or null when there is none yet or the last exchange is stale at `nowNs`. */
   mapping(nowNs: bigint): ClockMapping | null {
     const current = this.current;
-    if (current === null || nowNs - current.acceptedAtNs > this.staleAfterNs) return null;
+    if (current === null || this.newestNs === null || nowNs - this.newestNs > this.staleAfterNs) return null;
     return current;
   }
 
diff --git a/examples/egocap/tests/backend/test_app_livekit_recording.py b/examples/egocap/tests/backend/test_app_livekit_recording.py
index dbe67599f9..483d24064f 100644
--- a/examples/egocap/tests/backend/test_app_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_app_livekit_recording.py
@@ -39,7 +39,7 @@ def _monitor(streams):
 
 
 def test_config_factory_declares_and_requires_each_recordable_livekit_stream(tmp_path):
-    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
     monitor = _monitor(
         [
             _stream(16, capture),
@@ -96,7 +96,7 @@ def accepted_tracking(monkeypatch):
 
 
 def test_readiness_accepts_recordable_livekit_streams_without_a_jpeg_camera(accepted_tracking):
-    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
     check = app_module._recording_readiness_check(_ready_monitor([_stream(16, capture)]), None)
     assert check() == (True, None)
 
@@ -107,18 +107,19 @@ def test_readiness_without_any_stream_says_no_camera(accepted_tracking):
 
 def test_readiness_names_a_stream_whose_timestamps_are_not_a_capture_time(accepted_tracking):
     streams = [
-        _stream(16, p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US),
+        _stream(16, p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US),
         _stream(17, p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US),
     ]
     check = app_module._recording_readiness_check(_ready_monitor(streams), None)
     assert check() == (
         False,
-        "LiveKit stream 'cam17': its timestamps are not a capture time, so it cannot be recorded",
+        "LiveKit stream 'cam17': its timestamps are not a capture event on the publisher's monotonic clock, "
+        "so it cannot be recorded",
     )
 
 
 def test_readiness_names_a_stream_without_geometry(accepted_tracking):
-    stream = _stream(16, p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US, width=None)
+    stream = _stream(16, p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US, width=None)
     check = app_module._recording_readiness_check(_ready_monitor([stream]), None)
     assert check() == (False, "LiveKit stream 'cam16': width, height and fps must be configured to record it")
 
diff --git a/examples/egocap/tests/backend/test_livekit_clock_sync.py b/examples/egocap/tests/backend/test_livekit_clock_sync.py
new file mode 100644
index 0000000000..7c0ca1290c
--- /dev/null
+++ b/examples/egocap/tests/backend/test_livekit_clock_sync.py
@@ -0,0 +1,208 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""ClockSyncClient against a fake room and an injected clock, and its wiring into LiveKitFrameReceiver."""
+
+from __future__ import annotations
+
+import asyncio
+import struct
+from types import SimpleNamespace
+
+import pytest
+
+from egocap_web import livekit_receiver as lr
+from egocap_web.clock_exchange import DEFAULT_MAX_RTT_NS, DEFAULT_STALE_AFTER_NS
+from egocap_web.livekit_clock_sync import CLOCK_SYNC_TOPIC, ClockSyncClient
+
+PUBLISHER = "orin"
+REMOTE_AHEAD_NS = 3_000_000_000
+ONE_WAY_NS = 5_000_000
+_REQUEST = struct.Struct("<cIq")
+_REPLY = struct.Struct("<cIqqq")
+
+
+class FakeRoom:
+    """Records publish_data calls and handler (un)registration; ``deliver`` plays a data_received event."""
+
+    def __init__(self) -> None:
+        self.handlers: dict[str, object] = {}
+        self.off_calls: list[tuple[str, object]] = []
+        self.published: list[dict] = []
+        self.local_participant = SimpleNamespace(publish_data=self._publish_data)
+        self.remote_participants: dict[str, object] = {}
+
+    async def _publish_data(self, data: bytes, **kwargs: object) -> None:
+        self.published.append({"data": data, **kwargs})
+
+    def on(self, name: str, handler: object) -> None:
+        self.handlers[name] = handler
+
+    def off(self, name: str, handler: object) -> None:
+        self.off_calls.append((name, handler))
+        self.handlers.pop(name, None)
+
+    async def connect(self, url: str, token: str) -> None:
+        pass
+
+    async def disconnect(self) -> None:
+        pass
+
+    def deliver(self, data: bytes, *, identity: str = PUBLISHER, topic: str = CLOCK_SYNC_TOPIC) -> None:
+        packet = SimpleNamespace(data=data, participant=SimpleNamespace(identity=identity), topic=topic)
+        self.handlers["data_received"](packet)
+
+
+class Clock:
+    def __init__(self, now: int = 1_000_000_000) -> None:
+        self.now = now
+
+    def __call__(self) -> int:
+        return self.now
+
+
+def reply_to(request: bytes, t2: int, t3: int) -> bytes:
+    kind, sequence, t1 = _REQUEST.unpack(request)
+    assert kind == b"Q"
+    return _REPLY.pack(b"R", sequence, t1, t2, t3)
+
+
+async def settle() -> None:
+    for _ in range(5):
+        await asyncio.sleep(0)
+
+
+@pytest.fixture
+async def sync():
+    room, clock = FakeRoom(), Clock()
+    # A long interval: exactly one request is sent, at start.
+    client = ClockSyncClient(room, PUBLISHER, interval_s=3600, monotonic_ns=clock)
+    client.start()
+    await settle()
+    yield SimpleNamespace(room=room, clock=clock, client=client)
+    await client.stop()
+
+
+def answer(s: SimpleNamespace, *, one_way_ns: int = ONE_WAY_NS) -> bytes:
+    """Delivers the pending request's reply from a remote clock REMOTE_AHEAD_NS ahead; returns the request."""
+    request = s.room.published[-1]["data"]
+    t1 = _REQUEST.unpack(request)[2]
+    t2 = t1 + one_way_ns + REMOTE_AHEAD_NS
+    t3 = t2 + 1_000
+    s.clock.now = t3 - REMOTE_AHEAD_NS + one_way_ns
+    s.room.deliver(reply_to(request, t2, t3))
+    return request
+
+
+async def test_sends_one_request_with_destination_topic_and_t1(sync):
+    assert len(sync.room.published) == 1
+    sent = sync.room.published[0]
+    assert sent["reliable"] is False
+    assert sent["destination_identities"] == [PUBLISHER]
+    assert sent["topic"] == CLOCK_SYNC_TOPIC
+    kind, sequence, t1 = _REQUEST.unpack(sent["data"])
+    assert (kind, sequence, t1) == (b"Q", 1, sync.clock.now)
+
+
+async def test_reply_yields_offset_and_rtt(sync):
+    assert sync.client.mapping() is None
+    answer(sync)
+    mapping = sync.client.mapping()
+    assert mapping is not None
+    assert abs(mapping.offset_ns - REMOTE_AHEAD_NS) < 1_000
+    assert abs(mapping.rtt_ns - 2 * ONE_WAY_NS) < 1_000
+    assert sync.client.rejected == 0
+    assert not sync.client.discontinuity
+
+
+def bad_replies(request: bytes) -> dict[str, tuple[bytes, dict]]:
+    _, sequence, t1 = _REQUEST.unpack(request)
+    t2 = t1 + REMOTE_AHEAD_NS
+    good = _REPLY.pack(b"R", sequence, t1, t2, t2)
+    return {
+        "wrong topic": (good, {"topic": "other"}),
+        "other participant": (good, {"identity": "intruder"}),
+        "short": (good[:-1], {}),
+        "long": (good + b"\0", {}),
+        "wrong kind": (_REPLY.pack(b"Q", sequence, t1, t2, t2), {}),
+        "unknown sequence": (_REPLY.pack(b"R", sequence + 7, t1, t2, t2), {}),
+        "wrong t1": (_REPLY.pack(b"R", sequence, t1 + 1, t2, t2), {}),
+    }
+
+
+@pytest.mark.parametrize(
+    "case", ["wrong topic", "other participant", "short", "long", "wrong kind", "unknown sequence", "wrong t1"]
+)
+async def test_unrelated_or_malformed_replies_are_ignored(sync, case):
+    request = sync.room.published[0]["data"]
+    data, kwargs = bad_replies(request)[case]
+    sync.clock.now += 10_000_000
+    sync.room.deliver(data, **kwargs)
+    assert sync.client.mapping() is None
+    assert sync.client.rejected == 0
+    if case == "wrong t1":
+        return  # the client discards the outstanding request on a t1 mismatch, so a later genuine reply is dropped
+    # The request is still outstanding: the genuine reply is accepted afterwards.
+    answer(sync)
+    assert sync.client.mapping() is not None
+
+
+async def test_slow_round_trip_is_counted_as_rejected(sync):
+    answer(sync, one_way_ns=DEFAULT_MAX_RTT_NS)  # round trip is twice the limit
+    assert sync.client.rejected == 1
+    assert sync.client.mapping() is None
+
+
+async def test_mapping_goes_stale_on_the_injected_clock(sync):
+    answer(sync)
+    assert sync.client.mapping() is not None
+    sync.clock.now += DEFAULT_STALE_AFTER_NS + 1
+    assert sync.client.mapping() is None
+
+
+async def test_stop_cancels_task_and_removes_handler():
+    room, clock = FakeRoom(), Clock()
+    client = ClockSyncClient(room, PUBLISHER, interval_s=3600, monotonic_ns=clock)
+    client.start()
+    await settle()
+    task = client._task
+    handler = room.handlers["data_received"]
+    await client.stop()
+    assert task.cancelled()
+    assert client._task is None
+    assert room.off_calls == [("data_received", handler)]
+    assert "data_received" not in room.handlers
+
+
+# ---- receiver wiring ----
+
+
+def receiver(monkeypatch: pytest.MonkeyPatch, **kwargs: object) -> lr.LiveKitFrameReceiver:
+    monkeypatch.setattr(lr, "rtc", SimpleNamespace(Room=FakeRoom, TrackKind=SimpleNamespace(KIND_VIDEO="video")))
+    stream = lr.p.LiveKitCameraStream(
+        stream_id=1, name="cam", track="left", url="ws://lk.test", room="room", publisher=PUBLISHER
+    )
+    return lr.LiveKitFrameReceiver([stream], "tok", **kwargs)
+
+
+async def test_receiver_runs_clock_sync_when_asked(monkeypatch):
+    rx = receiver(monkeypatch, clock_sync=True)
+    assert rx.clock_sync is None
+    await rx.start()
+    client = rx.clock_sync
+    assert isinstance(client, ClockSyncClient)
+    assert client._task is not None
+    await settle()
+    assert "data_received" in rx._room.handlers
+    await rx.stop()
+    assert rx.clock_sync is None
+    assert client._task is None
+
+
+async def test_receiver_does_not_create_clock_sync_by_default(monkeypatch):
+    rx = receiver(monkeypatch)
+    await rx.start()
+    assert rx.clock_sync is None
+    assert "data_received" not in rx._room.handlers
+    await rx.stop()
diff --git a/examples/egocap/tests/backend/test_livekit_preview.py b/examples/egocap/tests/backend/test_livekit_preview.py
index bb9dc06c87..5b90125d6e 100644
--- a/examples/egocap/tests/backend/test_livekit_preview.py
+++ b/examples/egocap/tests/backend/test_livekit_preview.py
@@ -53,7 +53,7 @@ def test_token_header_is_hs256_jwt():
     assert header == {"alg": "HS256", "typ": "JWT"}
 
 
-def test_token_claims_name_issuer_validity_window_and_subscribe_only_grant():
+def test_token_claims_name_issuer_validity_window_and_data_only_publish_grant():
     _, claims, _, _ = _decode(
         subscriber_token(api_key=KEY, signing_key=SIGNING_KEY, room="sensing-preview", now=1000, ttl_s=60)
     )
@@ -66,7 +66,7 @@ def test_token_claims_name_issuer_validity_window_and_subscribe_only_grant():
         "roomJoin": True,
         "canSubscribe": True,
         "canPublish": False,
-        "canPublishData": False,
+        "canPublishData": True,
     }
 
 
diff --git a/examples/egocap/tests/backend/test_livekit_receiver.py b/examples/egocap/tests/backend/test_livekit_receiver.py
index 5584cc272c..cfdbad133d 100644
--- a/examples/egocap/tests/backend/test_livekit_receiver.py
+++ b/examples/egocap/tests/backend/test_livekit_receiver.py
@@ -620,10 +620,12 @@ async def test_a_different_participant_disconnecting_changes_nothing(receiver):
 async def test_feed_on_a_never_attached_stream_fails_when_the_publisher_leaves(monkeypatch):
     from egocap_web.livekit_recording import LiveKitRecordingFeed
 
-    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
     stream = camera(1, "left", timestamp_basis=capture)
     rx = lr.LiveKitFrameReceiver([stream], TOKEN)
     await rx.start()
+    stub = SimpleNamespace(mapping=lambda: None, discontinuity=False, stop=lambda: asyncio.sleep(0))
+    rx.clock_sync = stub  # the feed needs a clock-sync object to exist
     reasons: list[str] = []
     feed = LiveKitRecordingFeed(
         rx, [stream], SimpleNamespace(offer=lambda item: True), {1: "src"}, on_failure=reasons.append
diff --git a/examples/egocap/tests/backend/test_livekit_recording.py b/examples/egocap/tests/backend/test_livekit_recording.py
index 2c5860b661..0198d5478f 100644
--- a/examples/egocap/tests/backend/test_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_livekit_recording.py
@@ -2,7 +2,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-"""livekit_recording: Unix-to-monotonic mapping, the per-stream feed."""
+"""livekit_recording: the per-stream feed over the clock-sync mapping."""
 
 from __future__ import annotations
 
@@ -14,203 +14,21 @@
 
 from capture_server import protocol as p
 from egocap_web import livekit_recording as lrec
+from egocap_web.clock_exchange import ClockMapping
 from egocap_web.livekit_receiver import LiveKitFrameReceiver, ReceivedFrame, StreamCounters
 from egocap_web.livekit_recording import (
     LiveKitRecordingFeed,
-    UnixClockMap,
     unrecordable_reason,
 )
 from egocap_web.recording_adapter import RecordingIngress
 from recording_service import PixelFormat, SubmissionResult, SubmissionStatus, VideoSample
 
-CAPTURE = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+CAPTURE = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
+UNIX_CAPTURE = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
 PROCESSING = p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US
 MONO = p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US
 
 
-class FakeClocks:
-    """Scripted monotonic and Unix clocks; each read pops the next value (the last one repeats)."""
-
-    def __init__(self, monotonic: list[int], unix: list[int]) -> None:
-        self._mono, self._unix = list(monotonic), list(unix)
-        self.mono_reads = 0
-        self.unix_reads = 0
-
-    def monotonic_ns(self) -> int:
-        self.mono_reads += 1
-        return self._mono.pop(0) if len(self._mono) > 1 else self._mono[0]
-
-    def unix_ns(self) -> int:
-        self.unix_reads += 1
-        return self._unix.pop(0) if len(self._unix) > 1 else self._unix[0]
-
-
-def _map(clocks: FakeClocks) -> UnixClockMap:
-    return UnixClockMap(monotonic_ns=clocks.monotonic_ns, unix_ns=clocks.unix_ns)
-
-
-# --- UnixClockMap --------------------------------------------------------------
-
-
-def test_offset_is_midpoint_of_the_bracket_minus_the_unix_reading():
-    # Every attempt brackets a Unix reading of 5000 s between monotonic 100 s and 102 s: midpoint 101 s.
-    clocks = FakeClocks(
-        monotonic=[0] + [100_000_000_000, 102_000_000_000] * 3 + [103_000_000_000],
-        unix=[5_000_000_000_000],
-    )
-    mapper = _map(clocks)
-    assert mapper.monotonic_seconds(5_000_000_000) == pytest.approx(101.0)
-    assert mapper.monotonic_seconds(5_001_000_000) == pytest.approx(102.0)  # offset is reused, 1 s later
-
-
-def test_best_of_three_picks_the_shortest_span():
-    # Spans 4 s, 1 s, 2 s; the 1 s bracket is [20 s, 21 s] around unix 1000 s -> offset 20.5 - 1000.
-    clocks = FakeClocks(
-        monotonic=[
-            0,  # age check
-            0,
-            4_000_000_000,
-            20_000_000_000,
-            21_000_000_000,
-            30_000_000_000,
-            32_000_000_000,
-            32_000_000_000,  # stamp
-        ],
-        unix=[1_000_000_000_000, 1_000_000_000_000, 1_000_000_000_000],
-    )
-    mapper = _map(clocks)
-    assert mapper.monotonic_seconds(1_000_000_000) == pytest.approx(20.5)
-
-
-def test_pair_is_reused_within_one_second_without_remeasuring():
-    state = {"mono": 0}
-    reads = {"unix": 0}
-
-    def unix() -> int:
-        reads["unix"] += 1
-        return 100_000_000_000
-
-    mapper = UnixClockMap(monotonic_ns=lambda: state["mono"], unix_ns=unix)
-    assert mapper.monotonic_seconds(100_000_000) == pytest.approx(0.0)  # offset -100 s
-    assert reads["unix"] == 3
-    state["mono"] = 500_000_000
-    assert mapper.monotonic_seconds(101_000_000) == pytest.approx(1.0)
-    state["mono"] = 1_000_000_000  # age exactly 1 s: still reused
-    assert mapper.monotonic_seconds(102_000_000) == pytest.approx(2.0)
-    assert reads["unix"] == 3
-
-
-def test_pair_is_remeasured_after_one_second():
-    state = {"mono": 0, "unix": 1_000_000_000_000}
-    reads = {"unix": 0}
-
-    def mono() -> int:
-        return state["mono"]
-
-    def unix() -> int:
-        reads["unix"] += 1
-        return state["unix"]
-
-    mapper = UnixClockMap(monotonic_ns=mono, unix_ns=unix)
-    assert mapper.monotonic_seconds(1_000_000_000) == pytest.approx(0.0)
-    assert reads["unix"] == 3
-    state["mono"] = 1_000_000_001  # just over one second
-    mapper.monotonic_seconds(1_000_000_000)
-    assert reads["unix"] == 6
-
-
-def test_stepped_unix_clock_is_picked_up_at_the_next_refresh():
-    state = {"mono": 0, "unix": 1_000_000_000_000}
-
-    def mono() -> int:
-        return state["mono"]
-
-    def unix() -> int:
-        return state["unix"]
-
-    mapper = UnixClockMap(monotonic_ns=mono, unix_ns=unix)
-    assert mapper.monotonic_seconds(1_000_000_000) == pytest.approx(0.0)
-    state["unix"] += 3_000_000_000  # the Unix clock steps forward 3 s
-    state["mono"] = 500_000_000
-    assert mapper.monotonic_seconds(1_000_000_000) == pytest.approx(0.0)  # not yet noticed
-    state["mono"] = 2_000_000_000
-    # Unix now reads 1003 s at monotonic 2 s: unix 1000 s is 3 s before that, i.e. -1 s.
-    assert mapper.monotonic_seconds(1_000_000_000) == pytest.approx(-1.0)
-    assert mapper.step_detected  # a 3 s change in offset is far beyond any bracket uncertainty
-
-
-class _SteppedClocks:
-    """Each monotonic read advances ``tick_ns``; the Unix clock is monotonic plus a settable offset."""
-
-    def __init__(self, tick_ns: int = 2_000_000) -> None:
-        self.mono = 0
-        self.tick_ns = tick_ns
-        self.unix_offset_ns = 1_000_000_000_000_000
-
-    def monotonic_ns(self) -> int:
-        self.mono += self.tick_ns
-        return self.mono
-
-    def unix_ns(self) -> int:
-        return self.mono + self.unix_offset_ns
-
-
-def _remeasure(mapper: UnixClockMap, clocks: _SteppedClocks) -> None:
-    clocks.mono += 1_500_000_000  # past the pair's maximum age
-    mapper.monotonic_seconds(0)
-
-
-def _stepped_map(clocks: _SteppedClocks) -> UnixClockMap:
-    return UnixClockMap(monotonic_ns=clocks.monotonic_ns, unix_ns=clocks.unix_ns)
-
-
-def test_uncertainty_is_half_the_bracket_span_and_a_stable_offset_is_never_a_step():
-    clocks = _SteppedClocks(tick_ns=2_000_000)  # before/after reads are 2 ms apart
-    mapper = _stepped_map(clocks)
-    assert mapper.uncertainty_s is None
-    for _ in range(6):
-        _remeasure(mapper, clocks)
-        assert mapper.uncertainty_s == pytest.approx(0.001)
-        assert not mapper.step_detected
-
-
-def test_slow_drift_is_not_a_step():
-    clocks = _SteppedClocks()
-    mapper = _stepped_map(clocks)
-    for _ in range(20):
-        clocks.unix_offset_ns += 300_000  # 0.3 ms per second of slew
-        _remeasure(mapper, clocks)
-    assert not mapper.step_detected
-
-
-def test_a_50_ms_step_between_measurements_is_detected_and_stays_set():
-    clocks = _SteppedClocks()
-    mapper = _stepped_map(clocks)
-    _remeasure(mapper, clocks)
-    clocks.unix_offset_ns += 50_000_000
-    _remeasure(mapper, clocks)
-    assert mapper.step_detected
-    for _ in range(3):  # later stable measurements do not clear it
-        _remeasure(mapper, clocks)
-    assert mapper.step_detected
-
-
-def test_a_step_under_5_ms_is_not_detected():
-    clocks = _SteppedClocks()
-    mapper = _stepped_map(clocks)
-    _remeasure(mapper, clocks)
-    clocks.unix_offset_ns += 4_000_000
-    _remeasure(mapper, clocks)
-    assert not mapper.step_detected
-
-
-def test_default_clocks_map_now_to_about_now():
-    import time
-
-    mapped = UnixClockMap().monotonic_seconds(time.time_ns() // 1000)
-    assert mapped == pytest.approx(time.monotonic(), abs=0.05)
-
-
 # --- received frames -----------------------------------------------------------
 
 
@@ -218,7 +36,7 @@ def _received(
     stream_id: int = 16, user_ts: int | None = 1_000_000, receive_ns: int | None = None
 ) -> ReceivedFrame:
     if receive_ns is None:
-        # Arrives 0.1 s after capture on FixedMap's clock (capture = user_ts / 1e6 + 10).
+        # Arrives 0.1 s after capture on the fake mapping's clock (capture = user_ts / 1e6 + 10).
         receive_ns = int(((user_ts or 0) / 1e6 + 10.1) * 1e9)
     return ReceivedFrame(
         stream_id=stream_id,
@@ -249,7 +67,8 @@ def _stream(stream_id: int, name: str, basis=CAPTURE) -> p.LiveKitCameraStream:
 class FakeReceiver:
     """Per-stream scripted frames; an exhausted stream blocks like a quiet camera, or reports loss."""
 
-    def __init__(self, frames: dict[int, list[ReceivedFrame]]) -> None:
+    def __init__(self, frames: dict[int, list[ReceivedFrame]], clock_sync=None) -> None:
+        self.clock_sync = clock_sync if clock_sync is not None else FakeClockSync()
         self.frames = {k: list(v) for k, v in frames.items()}
         self.calls: list[int] = []
         self.gates: dict[int, asyncio.Event] = {}
@@ -283,25 +102,20 @@ def offer(self, item: VideoSample) -> bool:
         return self._answers.pop(0) if self._answers else True
 
 
-class FixedMap(UnixClockMap):
-    """Maps unix microseconds to ``us / 1e6 + 10`` seconds."""
-
-    def monotonic_seconds(self, unix_us: int) -> float:
-        return unix_us / 1e6 + 10.0
+class FakeClockSync:
+    """Stands in for ClockSyncClient: a fixed mapping of the publisher clock (local = remote + 10 s)."""
 
+    def __init__(self, offset_ns: int = -10_000_000_000) -> None:
+        self.offset_ns = offset_ns
+        self.discontinuity = False
+        self.available = True
 
-class StepAfterFirstMap(FixedMap):
-    """Reports a clock step from the second frame on."""
-
-    def __init__(self) -> None:
-        super().__init__()
-        self.calls = 0
-
-    def monotonic_seconds(self, unix_us: int) -> float:
-        self.calls += 1
-        if self.calls >= 2:
-            self.step_detected = True
-        return super().monotonic_seconds(unix_us)
+    def mapping(self) -> ClockMapping | None:
+        if not self.available:
+            return None
+        return ClockMapping(
+            epoch=1, offset_ns=self.offset_ns, rtt_ns=2_000, uncertainty_ns=1_000, accepted_at_ns=0
+        )
 
 
 async def _settle(times: int = 10) -> None:
@@ -311,7 +125,7 @@ async def _settle(times: int = 10) -> None:
 
 def _feed(receiver, streams, ingress, names=None, **kw) -> LiveKitRecordingFeed:
     names = names if names is not None else {s.stream_id: f"src{s.stream_id}" for s in streams}
-    return LiveKitRecordingFeed(receiver, streams, ingress, names, clock_map=FixedMap(), **kw)
+    return LiveKitRecordingFeed(receiver, streams, ingress, names, **kw)
 
 
 async def test_capture_stream_frames_are_offered_with_source_and_mapped_capture_time():
@@ -328,27 +142,63 @@ async def test_capture_stream_frames_are_offered_with_source_and_mapped_capture_
     assert feed.failure is None
 
 
-async def test_a_clock_step_fails_the_take_and_records_no_further_frames():
+class _FlipAfterFirst(FakeReceiver):
+    """Applies ``flip`` to the clock-sync object while the second frame is being served."""
+
+    def __init__(self, frames, clock_sync, flip) -> None:
+        super().__init__(frames, clock_sync)
+        self._flip = flip
+
+    async def next_frame_or_lost(self, stream_id):
+        frame = await super().next_frame_or_lost(stream_id)
+        if len(self.calls) == 2:
+            self._flip(self.clock_sync)
+        return frame
+
+
+@pytest.mark.parametrize(
+    ("flip", "text"),
+    [
+        (lambda c: setattr(c, "discontinuity", True), "clock mapping jumped"),
+        (lambda c: setattr(c, "available", False), "no current clock mapping"),
+    ],
+)
+async def test_a_jumped_or_missing_mapping_fails_the_take_and_records_no_further_frames(flip, text):
     reasons: list[str] = []
     frames = [_received(16, 1_000_000), _received(16, 2_000_000), _received(16, 3_000_000)]
     ingress = FakeIngress()
+    # The first frame is mapped before the flip and recorded; the second sees the changed mapping.
+    receiver = _FlipAfterFirst({16: frames}, FakeClockSync(), flip)
     feed = LiveKitRecordingFeed(
-        FakeReceiver({16: frames}),
-        [_stream(16, "Head left")],
-        ingress,
-        {16: "head_left"},
-        clock_map=StepAfterFirstMap(),
-        on_failure=reasons.append,
+        receiver, [_stream(16, "Head left")], ingress, {16: "head_left"}, on_failure=reasons.append
     )
     feed.start()
     await _settle()
     await feed.stop()
     assert feed.failure is not None
-    assert "clock stepped" in feed.failure
+    assert text in feed.failure
     assert reasons == [feed.failure]
     assert [m.capture_time for m in ingress.offered] == [11.0]
 
 
+async def test_mapping_offset_places_capture_time_on_the_local_clock():
+    clock = FakeClockSync(offset_ns=-10_000_000_000)
+    ingress = FakeIngress()
+    feed = _feed(FakeReceiver({16: [_received(16, 1_000_000)]}, clock), [_stream(16, "Head left")], ingress)
+    feed.start()
+    await _settle()
+    clock.offset_ns = -20_000_000_000  # a later mapping applies to later frames only
+    await feed.stop()
+    assert [m.capture_time for m in ingress.offered] == [11.0]
+
+
+def test_a_receiver_without_clock_sync_is_refused():
+    receiver = FakeReceiver({})
+    receiver.clock_sync = None
+    with pytest.raises(ValueError, match="clock-sync"):
+        LiveKitRecordingFeed(receiver, [_stream(16, "Head left")], FakeIngress(), {16: "a"})
+
+
 async def test_offered_sample_is_rgb8_with_the_frame_image_and_receive_time_in_seconds():
     frame = _received(16, 1_000_000, receive_ns=11_100_000_000)
     ingress = FakeIngress()
@@ -389,7 +239,7 @@ def submit(sample):
     assert submitted[0].image is frame.image
 
 
-@pytest.mark.parametrize("basis", [MONO, PROCESSING])
+@pytest.mark.parametrize("basis", [MONO, PROCESSING, UNIX_CAPTURE])
 async def test_non_capture_stream_fails_at_once_and_never_offers(basis):
     reasons: list[str] = []
     streams = [_stream(16, "Head left", basis)]
@@ -403,9 +253,7 @@ async def test_non_capture_stream_fails_at_once_and_never_offers(basis):
     assert receiver.calls == []  # refused before any frame was taken
     assert feed.failure is not None
     assert "Head left" in feed.failure
-    assert (
-        feed.failure == "Head left: its timestamps are not a capture time, so it cannot be aligned with tracking"
-    )
+    assert feed.failure == "Head left: its timestamps are not a capture event on the publisher's monotonic clock"
     assert reasons == [feed.failure]
 
 
@@ -733,7 +581,8 @@ def test_unrecordable_reason_names_a_stream_that_is_not_a_capture_time():
     started = _started(_geometry(16), _geometry(17, PROCESSING), _geometry(18, MONO))
     assert (
         unrecordable_reason(started)
-        == "LiveKit stream 'cam17': its timestamps are not a capture time, so it cannot be recorded"
+        == "LiveKit stream 'cam17': its timestamps are not a capture event on the publisher's monotonic clock, "
+        "so it cannot be recorded"
     )
 
 
diff --git a/examples/egocap/tests/backend/test_livekit_recording_source.py b/examples/egocap/tests/backend/test_livekit_recording_source.py
index b1cb501cae..c388ab620d 100644
--- a/examples/egocap/tests/backend/test_livekit_recording_source.py
+++ b/examples/egocap/tests/backend/test_livekit_recording_source.py
@@ -16,10 +16,12 @@
 
 from capture_server import protocol as p
 from egocap_web import livekit_recording as lrec
+from egocap_web.clock_exchange import ClockMapping
 from egocap_web.livekit_receiver import ReceivedFrame, StreamCounters
 from egocap_web.livekit_recording import LiveKitRecordingSource, recordable_livekit_streams
 
-CAPTURE = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+CAPTURE = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
+UNIX_CAPTURE = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
 PROCESSING = p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US
 MONO = p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US
 
@@ -59,10 +61,10 @@ def frame(stream_id: int, *, width=6, height=4) -> ReceivedFrame:
     return ReceivedFrame(
         stream_id=stream_id,
         image=np.zeros((height, width, 3), dtype=np.uint8),
-        # Captured just now on this host's clocks, so it passes the feed's frame-age check.
+        # Captured just now on this host's clock (the fake mapping is the identity): passes the frame-age check.
         receive_time_ns=time.monotonic_ns(),
         transport_timestamp_us=1,
-        user_timestamp_us=time.time_ns() // 1000,
+        user_timestamp_us=time.monotonic_ns() // 1000,
         frame_id=None,
         user_data=None,
     )
@@ -81,6 +83,7 @@ def test_only_capture_time_streams_with_full_geometry_are_recordable():
         keep,
         livekit_stream(17, basis=PROCESSING),
         livekit_stream(18, basis=MONO),
+        livekit_stream(22, basis=UNIX_CAPTURE),
         livekit_stream(19, width=None),
         livekit_stream(20, height=None),
         livekit_stream(21, fps=None),
@@ -92,6 +95,20 @@ def test_only_capture_time_streams_with_full_geometry_are_recordable():
 # --- LiveKitRecordingSource ------------------------------------------------------
 
 
+class FakeClockSync:
+    """Identity mapping once ``ready``; ``mapping()`` is None before that, like a publisher not yet answering."""
+
+    discontinuity = False
+
+    def __init__(self, ready: bool) -> None:
+        self.ready = ready
+
+    def mapping(self):
+        if not self.ready:
+            return None
+        return ClockMapping(epoch=1, offset_ns=0, rtt_ns=2_000, uncertainty_ns=1_000, accepted_at_ns=0)
+
+
 class FakeReceiver:
     """Per-stream queues; a ``None`` item is a lost track, an empty queue is a quiet camera."""
 
@@ -100,8 +117,11 @@ class FakeReceiver:
     #: When set, ``start``/``stop`` wait on it, so a test can stall the join or the leave.
     start_gate: asyncio.Event | None = None
     stop_gate: asyncio.Event | None = None
+    mapping_ready = True
 
-    def __init__(self, streams, token):
+    def __init__(self, streams, token, clock_sync=False):
+        self.clock_sync_requested = clock_sync
+        self.clock_sync = FakeClockSync(FakeReceiver.mapping_ready) if clock_sync else None
         self.streams, self.token = list(streams), token
         self.queues = {s.stream_id: asyncio.Queue() for s in streams}
         self.events: list[str] = []
@@ -146,6 +166,7 @@ def fake_receiver(monkeypatch):
     FakeReceiver.instances = []
     FakeReceiver.start_error = None
     FakeReceiver.start_gate = FakeReceiver.stop_gate = None
+    FakeReceiver.mapping_ready = True
     monkeypatch.setattr(lrec, "LiveKitFrameReceiver", FakeReceiver)
 
 
@@ -189,6 +210,7 @@ async def test_prepare_joins_with_a_token_for_the_first_streams_room_and_takes_e
     receiver = FakeReceiver.instances[0]
     assert tokens == ["room-a"]
     assert receiver.token == "token-room-a"
+    assert receiver.clock_sync_requested
     assert receiver.events == ["start"]
     assert all(q.empty() for q in receiver.queues.values())
     await source.stop()
@@ -221,6 +243,27 @@ async def test_a_quiet_stream_times_out_and_leaves_the_room():
     assert FakeReceiver.instances[0].stops == 1
 
 
+async def test_no_clock_mapping_before_the_timeout_fails_naming_clock_sync_and_leaves_the_room():
+    FakeReceiver.mapping_ready = False
+    streams = [livekit_stream(16)]
+    source = make_source(streams, timeout=0.2)
+    with pytest.raises(RuntimeError, match="clock-sync"):
+        await prepare_with_frames(source, streams)
+    assert FakeReceiver.instances[0].stops == 1
+
+
+async def test_a_mapping_that_arrives_late_still_lets_the_take_start():
+    FakeReceiver.mapping_ready = False
+    streams = [livekit_stream(16)]
+    source = make_source(streams, timeout=2.0)
+    task = asyncio.ensure_future(prepare_with_frames(source, streams))
+    await asyncio.sleep(0.1)
+    assert not task.done()
+    FakeReceiver.instances[0].clock_sync.ready = True
+    await task
+    await source.stop()
+
+
 async def test_a_failing_join_leaves_the_room_and_propagates():
     FakeReceiver.start_error = ConnectionError("no route")
     source = make_source([livekit_stream(16)])
diff --git a/examples/egocap/tests/backend/test_synthetic_timeline.py b/examples/egocap/tests/backend/test_synthetic_timeline.py
index 2083e8da0b..a656a872cb 100644
--- a/examples/egocap/tests/backend/test_synthetic_timeline.py
+++ b/examples/egocap/tests/backend/test_synthetic_timeline.py
@@ -2,74 +2,166 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
-"""A synthetic event timeline through the real LiveKitRecordingFeed: what stamping error survives recording."""
+"""One synthetic event timeline recorded through a camera path and a tracking path, each on its own clock.
+
+Truth events happen at known PC monotonic times. A camera and a glove-like tracking source observe every event
+on their own device clock (own offset and drift) and deliver it after their own delay. Each device's clock is
+mapped onto the PC's by the real ``ClockEstimator`` fed with simulated four-timestamp exchanges. The camera goes
+through the real ``LiveKitRecordingFeed``; tracking samples are mapped with the same estimator API.
+
+This proves plumbing and uncertainty accounting on synthetic clocks, not physical sensor alignment.
+"""
 
 from __future__ import annotations
 
 import asyncio
+import random
+from collections.abc import Callable
+from dataclasses import dataclass, field
 
 import numpy as np
 import pytest
 
 from capture_server import protocol as p
+from egocap_web.clock_exchange import ClockEstimator, ClockMapping, Exchange
 from egocap_web.livekit_receiver import ReceivedFrame
-from egocap_web.livekit_recording import LiveKitRecordingFeed, UnixClockMap
-
-#: Truth event times in this PC's monotonic seconds; tracking samples carry these directly.
-TRUTH_S = [100.0, 100.033, 100.066, 100.1, 100.133]
-#: Fixed gap between the PC's Unix and monotonic clocks.
-UNIX_MINUS_MONO_S = 1_700_000_000.0
-MICROSECOND = 1e-6
-
-
-class PcClocks:
-    """This PC's clocks: monotonic is settable, Unix is monotonic plus a settable gap; reads are instantaneous."""
+from egocap_web.livekit_recording import LiveKitRecordingFeed
+
+S = 1_000_000_000
+BASE_S = 5000.0  # the PC's monotonic time of the first event
+EVENT_PERIOD_S = 0.25
+EVENTS = 60
+#: Frame timestamps are whole microseconds, so each stamp is up to 0.5 us off; allow a little more.
+QUANTIZATION_S = 3e-6
+#: The estimator keeps the best of its last 8 exchanges and calls a mapping stale when that exchange is over 5 s
+#: old, so the window must span less than 5 s or a jittery link can lose its mapping while replies keep arriving.
+EXCHANGE_PERIOD_S = 0.5
+TRACK_LOST = "cam: the LiveKit track was lost"
+
+#: (df, db): one-way delays of one exchange, in ns.
+Link = Callable[[random.Random], tuple[int, int]]
+
+
+def symmetric_jitter(rng: random.Random) -> tuple[int, int]:
+    """Each direction 4 ms plus 0-6 ms of independent queueing, so asymmetry arises per exchange."""
+    return 4_000_000 + int(rng.uniform(0, 6e6)), 4_000_000 + int(rng.uniform(0, 6e6))
+
+
+def forward_heavy(rng: random.Random) -> tuple[int, int]:
+    """All of the delay on the way out: the offset error reaches half the round trip."""
+    return 30_000_000, 1_000
+
+
+def backward_heavy(rng: random.Random) -> tuple[int, int]:
+    return 1_000, 20_000_000
+
+
+class DeviceClock:
+    """A device clock as piecewise ``offset + t * (1 + ppm)``; a segment boundary is a step or a reboot."""
+
+    def __init__(self, offset_ns: int, ppm: float) -> None:
+        self.segments: list[tuple[int, int, float]] = [(0, offset_ns, ppm)]
+
+    def add_segment(self, from_s: float, offset_ns: int, ppm: float) -> None:
+        self.segments.append((round(from_s * S), offset_ns, ppm))
+
+    def segment_at(self, pc_ns: int) -> tuple[int, int, float]:
+        return [s for s in self.segments if s[0] <= pc_ns][-1]
+
+    def read_ns(self, pc_ns: int) -> int:
+        _, offset, ppm = self.segment_at(pc_ns)
+        return round(offset + pc_ns + pc_ns * ppm * 1e-6)
+
+    def ppm_at(self, pc_s: float) -> float:
+        return self.segment_at(round(pc_s * S))[2]
+
+
+@dataclass
+class Device:
+    """A device clock, its responder, and the real estimator fed with the exchanges that completed so far."""
+
+    clock: DeviceClock
+    link: Link
+    rng: random.Random
+    start_s: float
+    end_s: float
+    outage: tuple[float, float] | None = None
+    resets_s: tuple[float, ...] = ()
+    estimator: ClockEstimator = field(default_factory=ClockEstimator)
+    now_ns: int = 0
+
+    def __post_init__(self) -> None:
+        # (completion time, order, reset-or-exchange); a reset is followed at once by an exchange so the
+        # restarted publisher has a mapping again within milliseconds.
+        self._items: list[tuple[int, int, Exchange | None]] = []
+        times = [
+            self.start_s + i * EXCHANGE_PERIOD_S
+            for i in range(round((self.end_s - self.start_s) / EXCHANGE_PERIOD_S))
+        ]
+        times += [r + 0.01 for r in self.resets_s]
+        for t in times:
+            if self.outage is not None and self.outage[0] <= t < self.outage[1]:
+                continue
+            exchange = self._exchange(round(t * S))
+            self._items.append((exchange.t4, 1, exchange))
+        self._items += [(round(r * S), 0, None) for r in self.resets_s]
+        self._items.sort(key=lambda item: item[:2])
+
+    def _exchange(self, t1: int, processing_ns: int = 50_000) -> Exchange:
+        """One exchange whose responder stamps t2/t3 on the device clock at the true arrival and send times."""
+        df, db = self.link(self.rng)
+        t2 = self.clock.read_ns(t1 + df)
+        t3 = self.clock.read_ns(t1 + df + processing_ns)
+        return Exchange(t1=t1, t2=t2, t3=t3, t4=t1 + df + processing_ns + db)
+
+    def advance(self, now_ns: int) -> None:
+        """Apply everything that has completed by ``now_ns`` on the PC clock."""
+        while self._items and self._items[0][0] <= now_ns:
+            _, _, exchange = self._items.pop(0)
+            if exchange is None:
+                self.estimator.reset()
+            else:
+                assert self.estimator.add(exchange) is None
+        self.now_ns = now_ns
+
+    def mapping(self) -> ClockMapping | None:
+        return self.estimator.mapping(self.now_ns)
 
-    def __init__(self) -> None:
-        self.mono_ns = int(TRUTH_S[0] * 1e9)
-        self.gap_ns = int(UNIX_MINUS_MONO_S * 1e9)
-
-    def monotonic_ns(self) -> int:
-        return self.mono_ns
-
-    def unix_ns(self) -> int:
-        return self.mono_ns + self.gap_ns
 
-    def clock_map(self) -> UnixClockMap:
-        return UnixClockMap(monotonic_ns=self.monotonic_ns, unix_ns=self.unix_ns)
+class SimClockSync:
+    """The feed's ``receiver.clock_sync``: the estimator's mapping, remembering each one it handed out."""
+
+    def __init__(self, device: Device) -> None:
+        self._device = device
+        self.used: list[ClockMapping | None] = []
 
+    def mapping(self) -> ClockMapping | None:
+        mapping = self._device.mapping()
+        self.used.append(mapping)
+        return mapping
 
-def stamp_us(truth_s: float, offset_us: int = 0, drift_us: float = 0.0) -> int:
-    """The emulator's capture-basis stamp: truth Unix time plus offset and drift (no pipeline delay)."""
-    return round(truth_s * 1e6 + UNIX_MINUS_MONO_S * 1e6 + offset_us + drift_us)
+    @property
+    def discontinuity(self) -> bool:
+        return self._device.estimator.discontinuity
 
 
-def frame(frame_id: int, user_ts: int, receive_s: float) -> ReceivedFrame:
-    """A received frame whose pixels all equal its frame_id, so identity can be read back from the image."""
-    return ReceivedFrame(
-        stream_id=16,
-        image=np.full((2, 2, 3), frame_id, dtype=np.uint8),
-        receive_time_ns=round(receive_s * 1e9),
-        transport_timestamp_us=0,
-        user_timestamp_us=user_ts,
-        frame_id=frame_id,
-        user_data=None,
-    )
-
-
-class QueueReceiver:
-    """Serves the scripted frames in order, then reports the track lost."""
-
-    def __init__(self, frames: list[ReceivedFrame]) -> None:
-        self._frames = list(frames)
+class SimReceiver:
+    """Serves frames in arrival order; the camera's clock-sync exchanges advance to each frame's arrival."""
+
+    def __init__(self, frames: list[ReceivedFrame], device: Device) -> None:
+        self._frames = sorted(frames, key=lambda f: f.receive_time_ns)
+        self._device = device
+        self.clock_sync = SimClockSync(device)
 
     async def next_frame_or_lost(self, stream_id: int) -> ReceivedFrame | None:
-        return self._frames.pop(0) if self._frames else None
+        if not self._frames:
+            return None
+        frame = self._frames.pop(0)
+        self._device.advance(frame.receive_time_ns)
+        return frame
 
 
 class ListIngress:
-    """Accepts every sample."""
-
     def __init__(self) -> None:
         self.offered: list = []
 
@@ -78,8 +170,82 @@ def offer(self, item) -> bool:
         return True
 
 
-async def record(frames: list[ReceivedFrame], clocks: PcClocks, receiver=None):
-    """Runs the feed over ``frames`` to the end of the script; returns (feed, offered samples)."""
+def event_time_s(k: int) -> float:
+    return BASE_S + k * EVENT_PERIOD_S
+
+
+@dataclass
+class Recorded:
+    """One recorded observation of event ``k``: the time written down and the mapping it was made under."""
+
+    k: int
+    time_s: float
+    mapping: ClockMapping
+    ppm: float
+    discontinuity: bool = False
+
+    @property
+    def truth_s(self) -> float:
+        return event_time_s(self.k)
+
+    @property
+    def error_s(self) -> float:
+        return self.time_s - self.truth_s
+
+    @property
+    def tolerance_s(self) -> float:
+        """Own uncertainty plus the drift accumulated since the exchange behind the mapping."""
+        drift_s = abs(self.ppm) * 1e-6 * abs(self.truth_s - self.mapping.accepted_at_ns / S)
+        return self.mapping.uncertainty_ns / S + drift_s + QUANTIZATION_S
+
+
+@dataclass
+class Result:
+    camera: dict[int, Recorded]
+    glove: dict[int, Recorded]
+    feed_failure: str | None
+    cam_device: Device
+    glove_device: Device
+
+
+async def run_timeline(
+    *,
+    cam_clock: DeviceClock,
+    glove_clock: DeviceClock,
+    cam_link: Link = symmetric_jitter,
+    glove_link: Link = symmetric_jitter,
+    cam_drop: frozenset[int] = frozenset(),
+    glove_drop: frozenset[int] = frozenset(),
+    cam_resets_s: tuple[float, ...] = (),
+    cam_outage: tuple[float, float] | None = None,
+    seed: int = 7,
+) -> Result:
+    rng = random.Random(seed)
+    end_s = event_time_s(EVENTS) + 3.0
+    cam = Device(cam_clock, cam_link, random.Random(rng.random()), BASE_S - 3.0, end_s, cam_outage, cam_resets_s)
+    glove = Device(glove_clock, glove_link, random.Random(rng.random()), BASE_S - 3.0, end_s)
+
+    # Camera: the stamp is the device clock at the true event time; delivery delay is jittery and independent.
+    frames = []
+    for k in range(EVENTS):
+        if k in cam_drop:
+            continue
+        pc_ns = round(event_time_s(k) * S)
+        delay_s = rng.uniform(0.02, 0.9)
+        if any(event_time_s(k) < r <= event_time_s(k) + delay_s for r in cam_resets_s):
+            continue  # in flight when the publisher restarted: lost with its connection
+        frames.append(
+            ReceivedFrame(
+                stream_id=16,
+                image=np.full((2, 2, 3), k, dtype=np.uint8),
+                receive_time_ns=pc_ns + round(delay_s * S),
+                transport_timestamp_us=0,
+                user_timestamp_us=round(cam_clock.read_ns(pc_ns) / 1000),
+                frame_id=k,
+                user_data=None,
+            )
+        )
+    receiver = SimReceiver(frames, cam)
     stream = p.LiveKitCameraStream(
         stream_id=16,
         name="cam",
@@ -87,82 +253,180 @@ async def record(frames: list[ReceivedFrame], clocks: PcClocks, receiver=None):
         room="r",
         publisher="o",
         track="t",
-        timestamp_basis=p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US,
+        timestamp_basis=p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US,
     )
     ingress = ListIngress()
-    feed = LiveKitRecordingFeed(
-        receiver or QueueReceiver(frames), [stream], ingress, {16: "cam"}, clock_map=clocks.clock_map()
-    )
+    feed = LiveKitRecordingFeed(receiver, [stream], ingress, {16: "cam"})
     feed.start()
-    for _ in range(20):
+    for _ in range(5000):
         await asyncio.sleep(0)
+        if feed.failure:
+            break
     await feed.stop()
-    return feed, ingress.offered
-
-
-def residuals(samples, truth_by_id: dict[int, float]) -> list[float]:
-    """Recorded capture_time minus the truth time of the same frame."""
-    return [s.capture_time - truth_by_id[int(s.image[0, 0, 0])] for s in samples]
-
-
-TRUTH_BY_ID = {i + 1: t for i, t in enumerate(TRUTH_S)}
-
-
-async def test_recorded_capture_time_shows_the_injected_offset_and_drift():
-    offset_us, drift_ppm = 12_000, 20.0  # ppm is microseconds of error per elapsed second
-    run_start_s = 100.0
-    truth_by_id = {i + 1: run_start_s + e for i, e in enumerate([0.0, 15.0, 30.0, 45.0, 60.0])}
-    elapsed_s = {i: t - run_start_s for i, t in truth_by_id.items()}
-    frames = [frame(i, stamp_us(t, offset_us, elapsed_s[i] * drift_ppm), t + 0.1) for i, t in truth_by_id.items()]
-    _, samples = await record(frames, PcClocks())
-    assert len(samples) == len(truth_by_id)
-    got = residuals(samples, truth_by_id)
-    for r, i in zip(got, truth_by_id):
-        assert r == pytest.approx((offset_us + elapsed_s[i] * drift_ppm) * MICROSECOND, abs=MICROSECOND)
-    assert all(b > a for a, b in zip(got, got[1:]))
-
-
-# Jitter/drop/restart cases: LiveKitRecordingFeed fed manual ReceivedFrames, not the full wire path.
-
-
-async def test_delivery_jitter_does_not_change_capture_time():
-    delays = [0.02, 0.9, 0.001, 0.5, 0.2]
-    frames = [frame(i, stamp_us(t), t + d) for (i, t), d in zip(TRUTH_BY_ID.items(), delays)]
-    _, samples = await record(frames, PcClocks())
-    assert residuals(samples, TRUTH_BY_ID) == pytest.approx([0.0] * len(TRUTH_S), abs=MICROSECOND)
-
-
-async def test_dropped_frames_leave_the_remaining_frames_capture_time_and_identity():
-    kept = [1, 3, 5]
-    frames = [frame(i, stamp_us(TRUTH_BY_ID[i], 5_000), TRUTH_BY_ID[i] + 0.1) for i in kept]
-    _, samples = await record(frames, PcClocks())
-    assert [int(s.image[0, 0, 0]) for s in samples] == kept
-    assert residuals(samples, TRUTH_BY_ID) == pytest.approx([0.005] * 3, abs=MICROSECOND)
-
-
-async def test_publisher_restart_keeps_each_frames_own_capture_time():
-    # frame_id restarts at 1 after the third frame; only the id repeats, never the event time.
-    ids = [1, 2, 3, 1, 2]
-    frames = [frame(fid, stamp_us(t), t + 0.1) for fid, t in zip(ids, TRUTH_S)]
-    _, samples = await record(frames, PcClocks())
-    assert [s.capture_time for s in samples] == pytest.approx(TRUTH_S, abs=MICROSECOND)
-
-
-async def test_a_pc_clock_step_between_measurements_fails_the_take_and_stops_recording():
-    clocks = PcClocks()
-
-    class SteppingReceiver(QueueReceiver):
-        """Steps this PC's Unix clock by 50 ms and ages the pair after the second frame is served."""
-
-        async def next_frame_or_lost(self, stream_id):
-            if len(self._frames) == 3:
-                clocks.gap_ns += 50_000_000
-                clocks.mono_ns += 1_500_000_000
-            return await super().next_frame_or_lost(stream_id)
-
-    # After the step the later frames arrive in the shifted monotonic time, so their age stays plausible.
-    frames = [frame(i, stamp_us(TRUTH_BY_ID[i]), TRUTH_BY_ID[i] + 0.1) for i in (1, 2)]
-    frames += [frame(i, stamp_us(TRUTH_BY_ID[i]), TRUTH_BY_ID[i] + 1.6) for i in (3, 4, 5)]
-    feed, samples = await record(frames, clocks, SteppingReceiver(frames))
-    assert feed.failure is not None and "clock stepped" in feed.failure
-    assert [int(s.image[0, 0, 0]) for s in samples] == [1, 2]
+    camera = {}
+    for sample, mapping in zip(ingress.offered, receiver.clock_sync.used):
+        k = int(sample.image[0, 0, 0])
+        camera[k] = Recorded(k, sample.capture_time, mapping, cam_clock.ppm_at(event_time_s(k)))
+
+    # Tracking: samples arrive in delivery order and are mapped with the mapping current on arrival.
+    arrivals = sorted(
+        (event_time_s(k) + rng.uniform(0.001, 0.015), k) for k in range(EVENTS) if k not in glove_drop
+    )
+    tracking = {}
+    for arrival_s, k in arrivals:
+        glove.advance(round(arrival_s * S))
+        mapping = glove.mapping()
+        assert mapping is not None
+        stamp_ns = glove_clock.read_ns(round(event_time_s(k) * S))
+        tracking[k] = Recorded(
+            k,
+            mapping.to_local_ns(stamp_ns) / S,
+            mapping,
+            glove_clock.ppm_at(event_time_s(k)),
+            glove.estimator.discontinuity,
+        )
+    return Result(camera, tracking, feed.failure, cam, glove)
+
+
+def default_clocks() -> tuple[DeviceClock, DeviceClock]:
+    # Different boot offsets (one positive, one negative) and drift of opposite sign.
+    return DeviceClock(3_200_000_000_000, 35.0), DeviceClock(-1_500_000_000_000, -80.0)
+
+
+def paired(result: Result) -> list[int]:
+    """Events both sources recorded."""
+    return sorted(result.camera.keys() & result.glove.keys())
+
+
+def assert_paired_within_uncertainty(result: Result, ks: list[int]) -> None:
+    for k in ks:
+        cam, glove = result.camera[k], result.glove[k]
+        assert abs(cam.error_s) <= cam.tolerance_s, (k, cam.error_s, cam.tolerance_s)
+        assert abs(glove.error_s) <= glove.tolerance_s, (k, glove.error_s, glove.tolerance_s)
+        gap_s = abs(cam.time_s - glove.time_s)
+        assert gap_s <= cam.tolerance_s + glove.tolerance_s, (k, gap_s)
+
+
+async def test_independent_clocks_pair_within_summed_uncertainty_and_not_by_the_injected_offset():
+    cam_clock, glove_clock = default_clocks()
+    result = await run_timeline(cam_clock=cam_clock, glove_clock=glove_clock)
+    assert result.feed_failure == TRACK_LOST
+    ks = paired(result)
+    assert len(ks) == EVENTS
+    assert_paired_within_uncertainty(result, ks)
+    assert not result.glove_device.estimator.discontinuity
+    assert not result.cam_device.estimator.discontinuity
+
+    # Sources really do disagree before mapping, and subtracting each device's injected boot offset does not pair
+    # them either: the drift since boot is far beyond the uncertainty. Only the exchange-based mapping pairs them.
+    k = ks[-1]
+    raw_gap_s = (
+        abs(cam_clock.read_ns(round(event_time_s(k) * S)) - glove_clock.read_ns(round(event_time_s(k) * S))) / S
+    )
+    assert raw_gap_s > 1000.0
+    naive_cam = cam_clock.read_ns(round(event_time_s(k) * S)) - cam_clock.segments[0][1]
+    naive_glove = glove_clock.read_ns(round(event_time_s(k) * S)) - glove_clock.segments[0][1]
+    naive_gap_s = abs(naive_cam - naive_glove) / S
+    allowed = result.camera[k].tolerance_s + result.glove[k].tolerance_s
+    assert naive_gap_s > 10 * allowed
+
+
+@pytest.mark.parametrize(
+    ("cam_link", "glove_link"), [(forward_heavy, backward_heavy), (backward_heavy, forward_heavy)]
+)
+async def test_one_way_delay_asymmetry_reaches_half_the_round_trip_and_not_more(cam_link, glove_link):
+    # No drift here, so the whole residual is the asymmetry the estimator cannot see.
+    result = await run_timeline(
+        cam_clock=DeviceClock(3_200_000_000_000, 0.0),
+        glove_clock=DeviceClock(-1_500_000_000_000, 0.0),
+        cam_link=cam_link,
+        glove_link=glove_link,
+    )
+    ks = paired(result)
+    assert_paired_within_uncertainty(result, ks)
+    for source in (result.camera, result.glove):
+        for k in ks:
+            rec = source[k]
+            # The error is (df - db) / 2 against an uncertainty of (df + db) / 2: the bound is nearly reached.
+            assert abs(rec.error_s) > 0.98 * rec.mapping.uncertainty_ns / S - QUANTIZATION_S
+    # The mapping is not an oracle: the recorded times carry the unseen asymmetry, so they disagree with truth.
+    assert abs(result.camera[ks[0]].error_s) > 0.005
+
+
+async def test_delivery_jitter_and_dropped_frames_leave_recorded_times_and_identity_intact():
+    cam_clock, glove_clock = default_clocks()
+    cam_drop, glove_drop = frozenset({3, 4, 17, 40}), frozenset({10, 11, 40, 55})
+    result = await run_timeline(
+        cam_clock=cam_clock, glove_clock=glove_clock, cam_drop=cam_drop, glove_drop=glove_drop
+    )
+    assert result.feed_failure == TRACK_LOST
+    assert set(result.camera) == set(range(EVENTS)) - cam_drop
+    assert set(result.glove) == set(range(EVENTS)) - glove_drop
+    ks = paired(result)
+    assert len(ks) == EVENTS - len(cam_drop | glove_drop)
+    assert_paired_within_uncertainty(result, ks)
+
+
+async def test_publisher_restart_starts_a_new_epoch_and_later_events_pair_under_the_new_clock():
+    cam_clock, glove_clock = default_clocks()
+    restart_s = BASE_S - 3.0 + 10.4  # between two periodic exchanges, mid-timeline
+    cam_clock.add_segment(restart_s, offset_ns=9_000_000_000_000, ppm=-12.0)  # the publisher rebooted
+    result = await run_timeline(cam_clock=cam_clock, glove_clock=glove_clock, cam_resets_s=(restart_s,))
+    assert result.feed_failure == TRACK_LOST
+    ks = paired(result)
+    assert EVENTS - 4 <= len(ks) < EVENTS  # frames in flight at the restart are lost
+    assert_paired_within_uncertainty(result, ks)
+    before = [k for k in ks if event_time_s(k) < restart_s]
+    after = [k for k in ks if event_time_s(k) > restart_s + 1.0]
+    assert before and after
+    assert {result.camera[k].mapping.epoch for k in before} == {1}
+    assert all(result.camera[k].mapping.epoch >= 2 for k in after)
+    assert not result.cam_device.estimator.discontinuity  # a reset is a new epoch, not a jump
+
+
+async def test_a_clock_step_on_the_glove_sets_discontinuity_and_misplaces_samples_until_it_is_seen():
+    cam_clock, glove_clock = default_clocks()
+    step_s = BASE_S - 3.0 + 8.1
+    segment = glove_clock.segments[0]
+    glove_clock.add_segment(step_s, segment[1] + 40_000_000, segment[2])  # the device clock steps forward 40 ms
+    result = await run_timeline(cam_clock=cam_clock, glove_clock=glove_clock)
+    assert result.glove_device.estimator.discontinuity
+    flagged = [k for k, r in result.glove.items() if r.discontinuity]
+    assert flagged and min(flagged) > 0
+    first_flagged = min(flagged)
+    # Before the step, and from the first flagged sample on (a new epoch built from the newest exchange), the
+    # recorded times pair within the uncertainty; the flag is what marks the take as spanning a step.
+    clean = [k for k in paired(result) if event_time_s(k) < step_s - 0.5 or k >= first_flagged]
+    assert_paired_within_uncertainty(result, clean)
+    # Samples after the step but before the estimator saw it carry the full step as error, under the old mapping.
+    unseen = [k for k in result.glove if event_time_s(k) > step_s and k < first_flagged]
+    assert unseen
+    for k in unseen:
+        rec = result.glove[k]
+        assert not rec.discontinuity
+        assert abs(rec.error_s) > 0.03 > rec.tolerance_s
+    assert result.glove[first_flagged].mapping.epoch > result.glove[0].mapping.epoch
+    assert len(result.glove_device.estimator.history) >= 2
+
+
+async def test_a_camera_clock_step_without_a_reset_fails_the_take_with_the_jump_reason():
+    cam_clock, glove_clock = default_clocks()
+    step_s = BASE_S - 3.0 + 8.1
+    segment = cam_clock.segments[0]
+    cam_clock.add_segment(step_s, segment[1] + 40_000_000, segment[2])
+    result = await run_timeline(cam_clock=cam_clock, glove_clock=glove_clock)
+    assert result.feed_failure is not None and "clock mapping jumped" in result.feed_failure
+    # Frames recorded before the failure were mapped under the mapping that was good then.
+    assert result.camera
+    assert_paired_within_uncertainty(result, [k for k in paired(result) if event_time_s(k) < step_s - 0.5])
+    assert len(result.camera) < EVENTS
+
+
+async def test_exchanges_that_stop_for_longer_than_the_staleness_limit_fail_the_take_with_the_stale_reason():
+    cam_clock, glove_clock = default_clocks()
+    outage = (BASE_S + 4.0, BASE_S + 30.0)  # no replies from the publisher from here on
+    result = await run_timeline(cam_clock=cam_clock, glove_clock=glove_clock, cam_outage=outage)
+    assert result.feed_failure is not None and "no current clock mapping" in result.feed_failure
+    assert result.camera and len(result.camera) < EVENTS
+    # Everything recorded before the outage went stale still pairs within its uncertainty.
+    assert_paired_within_uncertainty(result, paired(result))
diff --git a/examples/egocap/tests/capture_server/test_livekit_streams.py b/examples/egocap/tests/capture_server/test_livekit_streams.py
index 212956652a..7b48b9da8e 100644
--- a/examples/egocap/tests/capture_server/test_livekit_streams.py
+++ b/examples/egocap/tests/capture_server/test_livekit_streams.py
@@ -124,7 +124,7 @@ def test_session_init_still_rejects_unknown_keys():
         {"url": "https://lk.example"},
         {"url": "lk.example:7881"},
         {"url": "x" * 600},
-        {"timestamp_basis": 4},
+        {"timestamp_basis": 5},
         {"timestamp_basis": 0},
         {"timestamp_basis": "1"},
         {"timestamp_basis": True},
@@ -480,6 +480,7 @@ def test_timestamp_basis_values_are_wire_stable():
     assert int(p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US) == 1
     assert int(p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US) == 2
     assert int(p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US) == 3
+    assert int(p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US) == 4
 
 
 @pytest.mark.parametrize(
@@ -487,9 +488,10 @@ def test_timestamp_basis_values_are_wire_stable():
     [
         (2, p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US),
         (3, p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US),
+        (4, p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US),
     ],
 )
-def test_unix_bases_round_trip_through_json(value, expected):
+def test_non_default_bases_round_trip_through_json(value, expected):
     stream = _stream(timestamp_basis=value)
     assert stream.timestamp_basis == expected
     assert p.LiveKitCameraStream.from_json(stream.to_json()) == stream
@@ -502,6 +504,7 @@ def test_unix_bases_round_trip_through_json(value, expected):
         ("timestamp_basis: monotonic_us,", p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US),
         ("timestamp_basis: processing_unix_us,", p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US),
         ("timestamp_basis: capture_unix_us,", p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US),
+        ("timestamp_basis: capture_monotonic_us,", p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US),
     ],
 )
 def test_loader_puts_the_room_basis_in_every_stream(tmp_path, basis_line, expected):
@@ -520,6 +523,8 @@ def test_loader_puts_the_room_basis_in_every_stream(tmp_path, basis_line, expect
         "unix_us",
         "UNIX_US",
         "CAPTURE_UNIX_US",
+        "CAPTURE_MONOTONIC_US",
+        "capture_monotonic",
         "2",
         "''",
         "null",
diff --git a/examples/egocap/tests/tools/test_livekit_orin_emulator.py b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
index d902888f22..7fc989e2a7 100644
--- a/examples/egocap/tests/tools/test_livekit_orin_emulator.py
+++ b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
@@ -35,7 +35,12 @@ def test_parse_valid_streams_and_defaults(token_file):
     )
     assert args.streams == [emu.StreamSpec(0, "left"), emu.StreamSpec(1, "right")]
     assert args.token == "secret-token"
-    assert (args.width, args.height, args.fps, args.timestamp_basis) == (1280, 720, 30.0, "capture_unix_us")
+    assert (args.width, args.height, args.fps, args.timestamp_basis) == (
+        1280,
+        720,
+        30.0,
+        "capture_monotonic_us",
+    )
 
 
 @pytest.mark.parametrize(
@@ -66,7 +71,9 @@ def test_missing_or_empty_token_file_is_rejected(tmp_path, token_file):
         emu.parse_args(argv(empty, stream))
 
 
-@pytest.mark.parametrize("basis", ["capture_unix_us", "processing_unix_us", "monotonic_us"])
+@pytest.mark.parametrize(
+    "basis", ["capture_monotonic_us", "capture_unix_us", "processing_unix_us", "monotonic_us"]
+)
 def test_each_timestamp_basis_choice_is_accepted(token_file, basis):
     args = emu.parse_args(argv(token_file, "--add-stream=sensor=0,livekit=a", f"--timestamp-basis={basis}"))
     assert args.timestamp_basis == basis
@@ -86,6 +93,7 @@ def test_user_timestamp_basis(monkeypatch):
     assert emu.user_timestamp_us("capture_unix_us") == 5_000
     assert emu.user_timestamp_us("processing_unix_us") == 5_000
     assert emu.user_timestamp_us("monotonic_us") == 9_000
+    assert emu.user_timestamp_us("capture_monotonic_us") == 9_000
 
 
 def test_metadata_fields_and_little_endian_user_data():
@@ -254,7 +262,12 @@ def slow_pattern(width, height, sensor, frame_id):
 
 @pytest.mark.parametrize(
     ("basis", "expected_us"),
-    [("capture_unix_us", 1_000), ("monotonic_us", 1_000), ("processing_unix_us", 1_500)],
+    [
+        ("capture_monotonic_us", 1_000),
+        ("capture_unix_us", 1_000),
+        ("monotonic_us", 1_500),
+        ("processing_unix_us", 1_500),
+    ],
 )
 async def test_only_the_processing_basis_is_stamped_after_synthesis(
     token_file, fake_rtc, monkeypatch, basis, expected_us
@@ -317,6 +330,8 @@ def test_pipeline_delay_applies_at_capture_only_and_monotonic_follows_its_own_of
     # The Unix offset does not leak into the monotonic basis.
     assert model.adjustment_us("monotonic_us", at_capture=True) == 3_000_000 + 150 - 40_000
     assert model.adjustment_us("monotonic_us", at_capture=False) == 3_000_000 + 150
+    assert model.adjustment_us("capture_monotonic_us", at_capture=True) == 3_000_000 + 150 - 40_000
+    assert model.adjustment_us("capture_monotonic_us", at_capture=False) == 3_000_000 + 150
 
 
 def test_orin_monotonic_is_host_plus_offset_plus_drift():
@@ -421,7 +436,8 @@ async def test_tracks_sharing_one_model_get_equal_stamps_and_keep_their_identity
     clock = _model([10_000_000_000], offset_us=2_000, drift_ppm=15.0)
     first = await _publish_one(token_file, monkeypatch, 0, clock)
     second = await _publish_one(token_file, monkeypatch, 1, clock)
-    expected = 5_000_000 + 2_000 + 150
+    # The default basis is on the monotonic clock, which the Unix offset does not touch.
+    expected = 5_000_000 + 150
     for _, timestamp_us, metadata in (first, second):
         assert timestamp_us == metadata.user_timestamp == expected
         assert metadata.frame_id == 1
@@ -430,7 +446,7 @@ async def test_tracks_sharing_one_model_get_equal_stamps_and_keep_their_identity
 
 async def test_all_zero_model_reproduces_this_hosts_readings(token_file, monkeypatch):
     model = emu.ClockModel()
-    for basis in ("capture_unix_us", "processing_unix_us", "monotonic_us"):
+    for basis in ("capture_monotonic_us", "capture_unix_us", "processing_unix_us", "monotonic_us"):
         assert model.adjustment_us(basis, at_capture=True) == model.adjustment_us(basis, at_capture=False) == 0
     _, timestamp_us, metadata = await _publish_one(token_file, monkeypatch, 0, model)
     assert timestamp_us == metadata.user_timestamp == 5_000_000

From 2b16b32a876b923db9cfa44559feb07dfd53b214 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 11:05:02 -0800
Subject: [PATCH 32/54] egocap: show just FPS and latency ms per tile, both
 windowed averages
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

The tile's two labels are the displayed FPS (frames presented over the
one-second window) and the mean capture-to-display latency of the window in
ms; '– FPS' and '– ms' stand in when a number is not available. The
uncertainty and 95th percentile move into the tooltip. Tests for the
newest-exchange staleness fix are included; the tile tests follow.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../egocap/frontend/src/LiveKitCameraTile.tsx | 35 ++++++-----
 .../egocap/frontend/src/displayLatency.ts     |  7 ++-
 .../tests/backend/test_clock_exchange.py      | 61 +++++++++++++++++++
 .../tests/backend/test_synthetic_timeline.py  |  4 +-
 4 files changed, 85 insertions(+), 22 deletions(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 5d595e09d3..479de48b7e 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -25,6 +25,9 @@ const FRAME_STALE_AFTER_MS = 3000;
 const FPS_WINDOW_MS = 1000;
 /** Recent latency samples kept per window. */
 const MAX_LATENCY_SAMPLES = 240;
+/** Shown in place of a number that is not available. */
+const NO_LATENCY = "– ms";
+const NO_FPS = "– FPS";
 
 /** The displayed rate for one window from cumulative presented-frame counts; null for an invalid interval. */
 export function displayedFps(previous: { presented: number; at: number }, presented: number, at: number): number | null {
@@ -71,7 +74,8 @@ export function LiveKitCameraTile({
   const [frameFields, setFrameFields] = useState<string>("");
   // Latency of each presented frame in the current window, and the label shown for the last full window.
   const latencySamplesRef = useRef<LatencySample[]>([]);
-  const [latencyLabel, setLatencyLabel] = useState<string>("latency unavailable");
+  const [latencyLabel, setLatencyLabel] = useState<string>(NO_LATENCY);
+  const [latencyDetail, setLatencyDetail] = useState<string>("");
   const [fpsLabel, setFpsLabel] = useState<string | null>(null);
   const [hasFrame, setHasFrame] = useState(false);
   const [stale, setStale] = useState(false);
@@ -83,7 +87,8 @@ export function LiveKitCameraTile({
     presentedRef.current = null;
     baselineRef.current = null;
     latencySamplesRef.current = [];
-    setLatencyLabel("latency unavailable");
+    setLatencyLabel(NO_LATENCY);
+    setLatencyDetail("");
     setFpsLabel(null);
     setHasFrame(false);
     setStale(false);
@@ -144,27 +149,25 @@ export function LiveKitCameraTile({
       latencySamplesRef.current = [];
       const mapping = clock?.mapping() ?? null;
       const summary = mapping === null ? null : summarizeLatency(samples, mapping.epoch);
-      const latencyText =
-        summary === null
-          ? "latency unavailable"
-          : `${summary.median.toFixed(0)} ms ±${summary.uncertaintyMs.toFixed(0)} (p95 ${summary.p95.toFixed(0)})`;
+      const latencyText = summary === null ? NO_LATENCY : `${summary.mean.toFixed(0)} ms`;
+      setLatencyDetail(summary === null ? "" : `±${summary.uncertaintyMs.toFixed(1)} ms, 95th percentile ${summary.p95.toFixed(0)} ms`);
       if (!hasFrameCallback) {
-        setFpsLabel("FPS unavailable");
-        setLatencyLabel("latency unavailable");
+        setFpsLabel(NO_FPS);
+        setLatencyLabel(NO_LATENCY);
       } else if (document.hidden) {
         baselineRef.current = null; // a hidden tab's scheduling is not comparable: restart after it returns
-        setFpsLabel("paused");
-        setLatencyLabel("latency unavailable");
+        setFpsLabel(NO_FPS);
+        setLatencyLabel(NO_LATENCY);
       } else if (isStale) {
         baselineRef.current = null;
         setFpsLabel("0 FPS");
-        setLatencyLabel("latency unavailable");
+        setLatencyLabel(NO_LATENCY);
       } else if (presented !== null) {
         setLatencyLabel(latencyText);
         const previous = baselineRef.current;
         baselineRef.current = { presented, at: now };
         const fps = previous === null ? null : displayedFps(previous, presented, now);
-        if (fps !== null) setFpsLabel(`${fps.toFixed(1)} FPS`);
+        if (fps !== null) setFpsLabel(`${fps.toFixed(0)} FPS`);
       }
     }, FPS_WINDOW_MS);
     // The timer can be throttled or suspended while the tab is hidden, so the transition itself resets the window:
@@ -173,8 +176,8 @@ export function LiveKitCameraTile({
       baselineRef.current = null;
       latencySamplesRef.current = [];
       if (document.hidden) {
-        setFpsLabel("paused");
-        setLatencyLabel("latency unavailable");
+        setFpsLabel(NO_FPS);
+        setLatencyLabel(NO_LATENCY);
       }
     };
     document.addEventListener("visibilitychange", onVisibility);
@@ -200,11 +203,11 @@ export function LiveKitCameraTile({
           <span
             className="camera-stats"
             title={
-              latencyLabel === "latency unavailable"
+              latencyLabel === NO_LATENCY
                 ? `No latency for the displayed frame: it needs the publisher's per-frame capture stamp (matched by RTP timestamp), a current clock mapping to the publisher, and a stream whose timestamp is a capture event on the publisher's monotonic clock.${
                     frameFields === "" ? "" : ` This browser's frame callback reports: ${frameFields}.`
                   }`
-                : "Capture event on the publisher's clock to the frame's expected display on this page, including receive, decode and render; ± is half the clock-exchange round trip plus this browser's timer resolution"
+                : `Capture event on the publisher's clock to the frame's expected display on this page, including receive, decode and render (${latencyDetail}); ± is half the clock-exchange round trip plus this browser's timer resolution`
             }
           >
             {latencyLabel}
diff --git a/examples/egocap/frontend/src/displayLatency.ts b/examples/egocap/frontend/src/displayLatency.ts
index b7824c1427..1e32e06071 100644
--- a/examples/egocap/frontend/src/displayLatency.ts
+++ b/examples/egocap/frontend/src/displayLatency.ts
@@ -42,14 +42,15 @@ export function latencySample(
   return { ms, epoch: mapping.epoch, uncertaintyMs };
 }
 
-/** Median and 95th percentile of the samples made under `epoch`, and the largest uncertainty among them. */
+/** Mean and 95th percentile of the samples made under `epoch`, and the largest uncertainty among them. */
 export function summarizeLatency(
   samples: LatencySample[],
   epoch: number,
-): { median: number; p95: number; uncertaintyMs: number } | null {
+): { mean: number; p95: number; uncertaintyMs: number } | null {
   const own = samples.filter((s) => s.epoch === epoch);
   if (own.length === 0) return null;
   const sorted = own.map((s) => s.ms).sort((a, b) => a - b);
   const at = (q: number): number => sorted[Math.min(sorted.length - 1, Math.floor(q * sorted.length))];
-  return { median: at(0.5), p95: at(0.95), uncertaintyMs: Math.max(...own.map((s) => s.uncertaintyMs)) };
+  const mean = sorted.reduce((a, b) => a + b, 0) / sorted.length;
+  return { mean, p95: at(0.95), uncertaintyMs: Math.max(...own.map((s) => s.uncertaintyMs)) };
 }
diff --git a/examples/egocap/tests/backend/test_clock_exchange.py b/examples/egocap/tests/backend/test_clock_exchange.py
index 4880648120..ac0d047252 100644
--- a/examples/egocap/tests/backend/test_clock_exchange.py
+++ b/examples/egocap/tests/backend/test_clock_exchange.py
@@ -230,3 +230,64 @@ def test_reset_bumps_epoch_clears_mapping_and_keeps_history() -> None:
     assert mapping.epoch == adopted[0].epoch + 1
     assert estimator.history[: len(adopted)] == adopted
     assert len(estimator.history) == len(adopted) + 1
+
+
+def test_jittery_link_stays_available_while_replies_arrive_and_keeps_best_exchange() -> None:
+    # The best exchange is the earliest and ages far past the stale limit while later, worse ones keep arriving.
+    estimator = ClockEstimator(window=64)
+    best = make_exchange(S, offset=MS, forward=MS, back=1_200_000)
+    estimator.add(best)
+    for i in range(1, 21):
+        ex = make_exchange(S + i * S, offset=MS, forward=5 * MS, back=5 * MS)
+        assert estimator.add(ex) is None
+        mapping = estimator.mapping(ex.t4)
+        assert mapping is not None, f"mapping lost {i} s in"
+        assert mapping.offset_ns == best.offset_ns
+        assert mapping.rtt_ns == best.rtt_ns
+        assert mapping.accepted_at_ns == best.t4
+
+
+def test_mapping_goes_stale_when_exchanges_stop_and_returns_with_a_new_one() -> None:
+    estimator = ClockEstimator(stale_after_ns=5 * S, window=64)
+    first = make_exchange(S, offset=MS, forward=MS, back=MS)
+    last = make_exchange(4 * S, offset=MS, forward=4 * MS, back=4 * MS)
+    estimator.add(first)
+    estimator.add(last)
+
+    assert estimator.mapping(last.t4 + 5 * S) is not None
+    # The window still holds both, and the best one is older still, but staleness follows the newest exchange.
+    assert estimator.mapping(last.t4 + 5 * S + 1) is None
+    assert estimator.mapping(last.t4 + 60 * S) is None
+
+    again = make_exchange(70 * S, offset=MS, forward=4 * MS, back=4 * MS)
+    assert estimator.add(again) is None
+    assert estimator.mapping(again.t4) is not None
+
+
+def test_rejected_exchanges_do_not_refresh_staleness() -> None:
+    estimator = ClockEstimator(stale_after_ns=5 * S, max_rtt_ns=50 * MS)
+    ex = make_exchange(S, offset=MS)
+    estimator.add(ex)
+    late = ex.t4 + 5 * S + 1
+    assert estimator.mapping(late) is None
+
+    too_slow = make_exchange(3 * S, offset=MS, forward=60 * MS, back=60 * MS)
+    assert estimator.add(too_slow) == "round trip too long"
+    malformed = Exchange(t1=6 * S, t2=0, t3=0, t4=5 * S)
+    assert estimator.add(malformed) == "malformed exchange"
+    assert estimator.mapping(late) is None
+
+
+def test_reset_clears_newest_exchange_time_until_the_next_exchange() -> None:
+    estimator = ClockEstimator()
+    ex = make_exchange(S, offset=MS)
+    estimator.add(ex)
+    assert estimator.mapping(ex.t4) is not None
+
+    estimator.reset()
+    assert estimator.mapping(ex.t4) is None
+    assert estimator.mapping(ex.t4 + 1) is None
+
+    nxt = make_exchange(2 * S, offset=MS)
+    estimator.add(nxt)
+    assert estimator.mapping(nxt.t4) is not None
diff --git a/examples/egocap/tests/backend/test_synthetic_timeline.py b/examples/egocap/tests/backend/test_synthetic_timeline.py
index a656a872cb..6103c3d33a 100644
--- a/examples/egocap/tests/backend/test_synthetic_timeline.py
+++ b/examples/egocap/tests/backend/test_synthetic_timeline.py
@@ -33,9 +33,7 @@
 EVENTS = 60
 #: Frame timestamps are whole microseconds, so each stamp is up to 0.5 us off; allow a little more.
 QUANTIZATION_S = 3e-6
-#: The estimator keeps the best of its last 8 exchanges and calls a mapping stale when that exchange is over 5 s
-#: old, so the window must span less than 5 s or a jittery link can lose its mapping while replies keep arriving.
-EXCHANGE_PERIOD_S = 0.5
+EXCHANGE_PERIOD_S = 1.0
 TRACK_LOST = "cam: the LiveKit track was lost"
 
 #: (df, db): one-way delays of one exchange, in ns.

From 84a6f48db71c1490d94a558aacf296e2cead3977 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 11:19:35 -0800
Subject: [PATCH 33/54] egocap: tile text reads 'XX fps' and 'YY ms latency';
 tests for the browser latency path

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/CameraGrid.livekit.test.tsx  |   1 +
 .../frontend/src/LiveKitCameraTile.test.tsx   | 122 +++++++++++++--
 .../egocap/frontend/src/LiveKitCameraTile.tsx |  10 +-
 .../frontend/src/captureProtocol.test.ts      |   2 +
 .../egocap/frontend/src/clockExchange.test.ts | 146 ++++++++++++++++++
 .../frontend/src/displayLatency.test.ts       |  49 ++++++
 .../frontend/src/liveKitClockSync.test.ts     | 135 ++++++++++++++++
 .../egocap/frontend/src/livekitTestDoubles.ts |   5 +
 .../frontend/src/useLiveKitPreview.test.ts    |   1 +
 examples/egocap/frontend/src/zzprobe.test.ts  |   3 +
 10 files changed, 452 insertions(+), 22 deletions(-)
 create mode 100644 examples/egocap/frontend/src/clockExchange.test.ts
 create mode 100644 examples/egocap/frontend/src/displayLatency.test.ts
 create mode 100644 examples/egocap/frontend/src/liveKitClockSync.test.ts
 create mode 100644 examples/egocap/frontend/src/zzprobe.test.ts

diff --git a/examples/egocap/frontend/src/CameraGrid.livekit.test.tsx b/examples/egocap/frontend/src/CameraGrid.livekit.test.tsx
index 244aaf774e..e940721371 100644
--- a/examples/egocap/frontend/src/CameraGrid.livekit.test.tsx
+++ b/examples/egocap/frontend/src/CameraGrid.livekit.test.tsx
@@ -19,6 +19,7 @@ vi.mock("livekit-client", async () => {
       Reconnecting: "Reconnecting",
       Reconnected: "Reconnected",
       Disconnected: "Disconnected",
+      DataReceived: "DataReceived",
     },
     Track: { Kind: { Video: "video", Audio: "audio" } },
   };
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index 1a7f52b7fb..c36a5fb841 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -167,12 +167,12 @@ describe("LiveKitCameraTile FPS label", () => {
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(document.body.textContent).not.toMatch(/FPS/); // first window only sets the baseline
+    expect(document.body.textContent).not.toMatch(/fps/); // first window only sets the baseline
     presentFrame(30);
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(statsTexts()[0]).toBe("30.0 FPS");
+    expect(statsTexts()[0]).toBe("30 fps");
   });
 
   it("shows 0 FPS when no frame arrives for more than three seconds", () => {
@@ -181,10 +181,10 @@ describe("LiveKitCameraTile FPS label", () => {
     act(() => {
       vi.advanceTimersByTime(5000);
     });
-    expect(statsTexts()[0]).toBe("0 FPS");
+    expect(statsTexts()[0]).toBe("0 fps");
   });
 
-  it("shows paused while the document is hidden", () => {
+  it("shows a dash while the document is hidden", () => {
     Object.defineProperty(document, "hidden", { configurable: true, value: true });
     try {
       renderTile();
@@ -192,7 +192,7 @@ describe("LiveKitCameraTile FPS label", () => {
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(statsTexts()[0]).toBe("paused");
+      expect(statsTexts()[0]).toBe("– fps");
     } finally {
       delete (document as any).hidden;
     }
@@ -209,11 +209,11 @@ describe("LiveKitCameraTile FPS label", () => {
       delete (document as any).hidden;
     });
 
-    it("shows paused at once when the tab is hidden, without waiting for the timer", () => {
+    it("shows a dash at once when the tab is hidden, without waiting for the timer", () => {
       renderTile();
       presentFrame();
       setHidden(true);
-      expect(statsTexts()[0]).toBe("paused");
+      expect(statsTexts()[0]).toBe("– fps");
     });
 
     it("starts a fresh FPS baseline after the tab returns", () => {
@@ -226,19 +226,19 @@ describe("LiveKitCameraTile FPS label", () => {
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(statsTexts()[0]).toBe("30.0 FPS");
+      expect(statsTexts()[0]).toBe("30 fps");
       setHidden(true);
       presentFrame(300); // frames presented while hidden must not inflate the first visible window
       setHidden(false);
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(document.body.textContent).not.toMatch(/\d FPS/);
+      expect(document.body.textContent).not.toMatch(/\d fps/);
       presentFrame(30);
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(statsTexts()[0]).toBe("30.0 FPS");
+      expect(statsTexts()[0]).toBe("30 fps");
     });
 
     it("removes the visibilitychange listener on unmount", () => {
@@ -250,13 +250,13 @@ describe("LiveKitCameraTile FPS label", () => {
     });
   });
 
-  it("shows FPS unavailable without requestVideoFrameCallback", () => {
+  it("shows a dash for FPS without requestVideoFrameCallback", () => {
     delete (HTMLVideoElement.prototype as any).requestVideoFrameCallback;
     renderTile();
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(statsTexts()[0]).toBe("FPS unavailable");
+    expect(statsTexts()[0]).toBe("– fps");
   });
 });
 
@@ -277,7 +277,7 @@ describe("LiveKitCameraTile latency", () => {
     });
     const spans = document.querySelectorAll(".camera-stats");
     expect(spans).toHaveLength(2);
-    expect(spans[1].textContent).toBe("latency unavailable");
+    expect(spans[1].textContent).toBe("– ms latency");
     expect(spans[1].getAttribute("title")).toBeTruthy();
   });
 
@@ -291,8 +291,8 @@ describe("LiveKitCameraTile latency", () => {
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    expect(statsTexts()).toContain("latency unavailable");
-    expect(statsTexts().some((t) => /\bms\b/.test(t))).toBe(false);
+    expect(statsTexts()).toContain("– ms latency");
+    expect(statsTexts().some((t) => /\d ms latency/.test(t))).toBe(false);
   });
 
   it("lists the sorted frame-callback fields in the latency tooltip", () => {
@@ -324,7 +324,7 @@ describe("LiveKitCameraTile latency", () => {
     act(() => {
       vi.advanceTimersByTime(5000);
     });
-    expect(statsTexts()).toEqual(["0 FPS", "latency unavailable"]);
+    expect(statsTexts()).toEqual(["0 fps", "– ms latency"]);
   });
 
   it("keeps the fixed latency span beside paused while the document is hidden", () => {
@@ -335,7 +335,7 @@ describe("LiveKitCameraTile latency", () => {
       act(() => {
         vi.advanceTimersByTime(1000);
       });
-      expect(statsTexts()).toEqual(["paused", "latency unavailable"]);
+      expect(statsTexts()).toEqual(["– fps", "– ms latency"]);
     } finally {
       delete (document as any).hidden;
     }
@@ -346,3 +346,91 @@ describe("LiveKitCameraTile latency", () => {
     expect(document.body.textContent).not.toMatch(/latency/);
   });
 });
+
+describe("LiveKitCameraTile measured latency", () => {
+  const MS = 1_000_000n;
+  /** Remote clock = local + 3 s, so a frame displayed at local 997_072 ms and stamped 1_000_000 us is 72 ms old. */
+  const mappingOf = (epoch = 1) => ({ epoch, offsetNs: 3_000n * MS, rttNs: 4n * MS, uncertaintyNs: 2n * MS, acceptedAtNs: 0n });
+  const stampedTrack = (stamp: { userTimestamp: bigint } | undefined = { userTimestamp: 1_000_000_000n }) => {
+    const track = fakeTrack();
+    track.lookupFrameMetadata = vi.fn(() => stamp);
+    return track;
+  };
+  const frame = { rtpTimestamp: 42, expectedDisplayTime: 997_072 };
+
+  function renderWith(track: any, clock: { mapping: () => any } | null, basis = 4) {
+    return render(<LiveKitCameraTile name="Head" track={track} phase="connected" primary={false} clock={clock as any} basis={basis} />);
+  }
+  const windows = (n = 2): void => {
+    for (let i = 0; i < n; i++) {
+      act(() => {
+        vi.advanceTimersByTime(1000);
+      });
+    }
+  };
+
+  it("shows the mean after the window, with uncertainty and p95 in the title, looking the stamp up by RTP timestamp", () => {
+    const track = stampedTrack();
+    renderWith(track, { mapping: () => mappingOf() });
+    presentFrame(1);
+    windows(1);
+    presentFrame(1, frame);
+    windows(1);
+    expect(statsTexts()[1]).toBe("72 ms latency");
+    expect(document.querySelectorAll(".camera-stats")[1].getAttribute("title")).toContain("±2.0 ms, 95th percentile 72 ms");
+    expect(track.lookupFrameMetadata).toHaveBeenCalledWith({ rtpTimestamp: 42 });
+  });
+
+  it("is unavailable without a stamp", () => {
+    renderWith(stampedTrack(undefined), { mapping: () => mappingOf() });
+    presentFrame(1, frame);
+    windows();
+    expect(statsTexts()[1]).toBe("– ms latency");
+  });
+
+  it("is unavailable when the basis is not the capture event, even with stamps", () => {
+    const track = stampedTrack();
+    renderWith(track, { mapping: () => mappingOf() }, 1);
+    presentFrame(1, frame);
+    windows();
+    expect(statsTexts()[1]).toBe("– ms latency");
+    expect(track.lookupFrameMetadata).not.toHaveBeenCalled();
+  });
+
+  it("is unavailable without a mapping", () => {
+    renderWith(stampedTrack(), { mapping: () => null });
+    presentFrame(1, frame);
+    windows();
+    expect(statsTexts()[1]).toBe("– ms latency");
+  });
+
+  it("is unavailable for a window whose mapping epoch changed", () => {
+    let epoch = 1;
+    renderWith(stampedTrack(), { mapping: () => mappingOf(epoch) });
+    presentFrame(1);
+    windows(1);
+    presentFrame(1, frame); // made under epoch 1
+    epoch = 2;
+    windows(1);
+    expect(statsTexts()[1]).toBe("– ms latency");
+  });
+
+  it("is unavailable when the stream is stale or the document is hidden", () => {
+    renderWith(stampedTrack(), { mapping: () => mappingOf() });
+    presentFrame(1, frame);
+    act(() => {
+      vi.advanceTimersByTime(5000);
+    });
+    expect(statsTexts()).toEqual(["0 fps", "– ms latency"]);
+    cleanup();
+    Object.defineProperty(document, "hidden", { configurable: true, value: true });
+    try {
+      renderWith(stampedTrack(), { mapping: () => mappingOf() });
+      presentFrame(1, frame);
+      windows(1);
+      expect(statsTexts()).toEqual(["– fps", "– ms latency"]);
+    } finally {
+      delete (document as any).hidden;
+    }
+  });
+});
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 479de48b7e..eca8fc2880 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -26,8 +26,8 @@ const FPS_WINDOW_MS = 1000;
 /** Recent latency samples kept per window. */
 const MAX_LATENCY_SAMPLES = 240;
 /** Shown in place of a number that is not available. */
-const NO_LATENCY = "– ms";
-const NO_FPS = "– FPS";
+const NO_LATENCY = "– ms latency";
+const NO_FPS = "– fps";
 
 /** The displayed rate for one window from cumulative presented-frame counts; null for an invalid interval. */
 export function displayedFps(previous: { presented: number; at: number }, presented: number, at: number): number | null {
@@ -149,7 +149,7 @@ export function LiveKitCameraTile({
       latencySamplesRef.current = [];
       const mapping = clock?.mapping() ?? null;
       const summary = mapping === null ? null : summarizeLatency(samples, mapping.epoch);
-      const latencyText = summary === null ? NO_LATENCY : `${summary.mean.toFixed(0)} ms`;
+      const latencyText = summary === null ? NO_LATENCY : `${summary.mean.toFixed(0)} ms latency`;
       setLatencyDetail(summary === null ? "" : `±${summary.uncertaintyMs.toFixed(1)} ms, 95th percentile ${summary.p95.toFixed(0)} ms`);
       if (!hasFrameCallback) {
         setFpsLabel(NO_FPS);
@@ -160,14 +160,14 @@ export function LiveKitCameraTile({
         setLatencyLabel(NO_LATENCY);
       } else if (isStale) {
         baselineRef.current = null;
-        setFpsLabel("0 FPS");
+        setFpsLabel("0 fps");
         setLatencyLabel(NO_LATENCY);
       } else if (presented !== null) {
         setLatencyLabel(latencyText);
         const previous = baselineRef.current;
         baselineRef.current = { presented, at: now };
         const fps = previous === null ? null : displayedFps(previous, presented, now);
-        if (fps !== null) setFpsLabel(`${fps.toFixed(0)} FPS`);
+        if (fps !== null) setFpsLabel(`${fps.toFixed(0)} fps`);
       }
     }, FPS_WINDOW_MS);
     // The timer can be throttled or suspended while the tab is hidden, so the transition itself resets the window:
diff --git a/examples/egocap/frontend/src/captureProtocol.test.ts b/examples/egocap/frontend/src/captureProtocol.test.ts
index 5e2cdb16c1..40538ec079 100644
--- a/examples/egocap/frontend/src/captureProtocol.test.ts
+++ b/examples/egocap/frontend/src/captureProtocol.test.ts
@@ -95,6 +95,7 @@ describe("parseSnapshot LiveKit camera streams", () => {
       room: "r",
       publisher: "orin",
       track: "left",
+      timestamp_basis: 1,
     });
   });
 
@@ -117,6 +118,7 @@ describe("parseSnapshot LiveKit camera streams", () => {
   it.each([
     ["a missing url", { ...LIVEKIT_STREAM, url: undefined }],
     ["a missing publisher", { ...LIVEKIT_STREAM, publisher: undefined }],
+    ["a missing timestamp basis", { ...LIVEKIT_STREAM, timestamp_basis: undefined }],
     ["a numeric track", { ...LIVEKIT_STREAM, track: 3 }],
     ["a numeric name", { ...LIVEKIT_STREAM, name: 3 }],
     ["a non-numeric stream_id", { ...LIVEKIT_STREAM, stream_id: "16" }],
diff --git a/examples/egocap/frontend/src/clockExchange.test.ts b/examples/egocap/frontend/src/clockExchange.test.ts
new file mode 100644
index 0000000000..d48c589e20
--- /dev/null
+++ b/examples/egocap/frontend/src/clockExchange.test.ts
@@ -0,0 +1,146 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+import { describe, expect, it } from "vitest";
+import {
+  ClockEstimator,
+  decodeReply,
+  encodeRequest,
+  offsetNs,
+  rttNs,
+  toRemoteNs,
+  wellFormed,
+} from "./clockExchange";
+import type { Exchange } from "./clockExchange";
+
+const MS = 1_000_000n;
+
+/** An exchange with the given one-way delays and remote-minus-local offset, starting at local time t1. */
+function exchange(t1: bigint, offset: bigint, out: bigint, back: bigint, hold = 0n): Exchange {
+  const t2 = t1 + out + offset;
+  const t3 = t2 + hold;
+  return { t1, t2, t3, t4: t3 - offset + back };
+}
+
+describe("exchange arithmetic", () => {
+  it("recovers a symmetric offset exactly", () => {
+    const e = exchange(1000n * MS, 3_000n * MS, 5n * MS, 5n * MS, MS);
+    expect(offsetNs(e)).toBe(3_000n * MS);
+    expect(rttNs(e)).toBe(10n * MS);
+    expect(toRemoteNs({ epoch: 1, offsetNs: offsetNs(e), rttNs: 0n, uncertaintyNs: 0n, acceptedAtNs: 0n }, 7n)).toBe(
+      3_000n * MS + 7n,
+    );
+  });
+
+  it("errs by less than half the round trip when the path is asymmetric", () => {
+    const e = exchange(0n, 500n * MS, 2n * MS, 8n * MS);
+    const error = offsetNs(e) - 500n * MS;
+    expect(error < 0n ? -error : error).toBeLessThanOrEqual(rttNs(e) / 2n);
+  });
+
+  it("floors negative sums like Python's //", () => {
+    // t2-t1 + t3-t4 = -3 -> -2, and -4 -> -2, -1 -> -1
+    expect(offsetNs({ t1: 3n, t2: 0n, t3: 0n, t4: 0n })).toBe(-2n);
+    expect(offsetNs({ t1: 4n, t2: 0n, t3: 0n, t4: 0n })).toBe(-2n);
+    expect(offsetNs({ t1: 1n, t2: 0n, t3: 0n, t4: 0n })).toBe(-1n);
+    expect(offsetNs({ t1: 0n, t2: 3n, t3: 0n, t4: 0n })).toBe(1n);
+  });
+
+  it("flags reversed clocks and negative round trips as malformed", () => {
+    expect(wellFormed({ t1: 1n, t2: 5n, t3: 6n, t4: 2n })).toBe(true);
+    expect(wellFormed({ t1: 5n, t2: 5n, t3: 6n, t4: 4n })).toBe(false);
+    expect(wellFormed({ t1: 1n, t2: 6n, t3: 5n, t4: 9n })).toBe(false);
+    expect(wellFormed({ t1: 1n, t2: 5n, t3: 9n, t4: 2n })).toBe(false); // held longer than the round trip
+  });
+});
+
+describe("ClockEstimator", () => {
+  it("has no mapping before an exchange", () => {
+    expect(new ClockEstimator().mapping(0n)).toBeNull();
+  });
+
+  it("keeps the lowest round trip, the newest on a tie", () => {
+    const est = new ClockEstimator();
+    est.add(exchange(0n, 100n, 5n * MS, 5n * MS));
+    est.add(exchange(1000n * MS, 100n, 2n * MS, 2n * MS));
+    est.add(exchange(2000n * MS, 100n, 9n * MS, 9n * MS));
+    expect(est.mapping(2100n * MS)?.rttNs).toBe(4n * MS);
+    est.add(exchange(3000n * MS, 100n, 2n * MS, 2n * MS));
+    expect(est.mapping(3100n * MS)?.acceptedAtNs).toBe(3000n * MS + 4n * MS);
+  });
+
+  it("rejects malformed and over-long exchanges without changing the mapping", () => {
+    const est = new ClockEstimator(0n, 10n * MS);
+    expect(est.add({ t1: 5n, t2: 5n, t3: 6n, t4: 4n })).toBe("malformed exchange");
+    expect(est.add(exchange(0n, 0n, 20n * MS, 20n * MS))).toBe("round trip too long");
+    expect(est.mapping(0n)).toBeNull();
+  });
+
+  it("flags a step as a discontinuity and bumps the epoch on that same-RTT exchange", () => {
+    const est = new ClockEstimator();
+    est.add(exchange(0n, 0n, MS, MS));
+    const before = est.mapping(10n * MS)!;
+    expect(est.discontinuity).toBe(false);
+    est.add(exchange(1000n * MS, 500n * MS, MS, MS));
+    const after = est.mapping(1000n * MS + 2n * MS)!;
+    expect(est.discontinuity).toBe(true);
+    expect(after.epoch).toBe(before.epoch + 1);
+    expect(after.offsetNs).toBe(500n * MS);
+  });
+
+  it("reset starts over with a new epoch", () => {
+    const est = new ClockEstimator();
+    est.add(exchange(0n, 0n, MS, MS));
+    const epoch = est.mapping(0n)!.epoch;
+    est.reset();
+    expect(est.mapping(0n)).toBeNull();
+    est.add(exchange(0n, 0n, MS, MS));
+    expect(est.mapping(0n)!.epoch).toBe(epoch + 1);
+  });
+
+  it("goes stale", () => {
+    const est = new ClockEstimator(0n, 250n * MS, 5_000n * MS);
+    est.add(exchange(0n, 0n, MS, MS));
+    expect(est.mapping(5_000n * MS)).not.toBeNull();
+    expect(est.mapping(2n * MS + 5_000n * MS + 1n)).toBeNull();
+  });
+
+  it("adds the timer resolution to the uncertainty", () => {
+    const est = new ClockEstimator(100n * MS);
+    est.add(exchange(0n, 0n, 5n * MS, 5n * MS));
+    expect(est.mapping(0n)!.uncertaintyNs).toBe(5n * MS + 100n * MS);
+  });
+});
+
+describe("clock-sync messages", () => {
+  it("encodes a 13-byte request", () => {
+    const bytes = encodeRequest(7, -5n);
+    expect(bytes.byteLength).toBe(13);
+    expect(bytes[0]).toBe(0x51);
+    expect(new DataView(bytes.buffer).getUint32(1, true)).toBe(7);
+    expect(new DataView(bytes.buffer).getBigInt64(5, true)).toBe(-5n);
+  });
+
+  it("round-trips a reply", () => {
+    const bytes = new Uint8Array(29);
+    const view = new DataView(bytes.buffer);
+    bytes[0] = 0x52;
+    view.setUint32(1, 9, true);
+    view.setBigInt64(5, 1n, true);
+    view.setBigInt64(13, -2n, true);
+    view.setBigInt64(21, 3n, true);
+    expect(decodeReply(bytes)).toEqual({ sequence: 9, t1: 1n, t2: -2n, t3: 3n });
+  });
+
+  it("rejects a wrong length or kind", () => {
+    const good = new Uint8Array(29);
+    good[0] = 0x52;
+    expect(decodeReply(good)).not.toBeNull();
+    expect(decodeReply(good.slice(0, 28))).toBeNull();
+    expect(decodeReply(new Uint8Array(30))).toBeNull();
+    const wrong = good.slice();
+    wrong[0] = 0x51;
+    expect(decodeReply(wrong)).toBeNull();
+  });
+});
diff --git a/examples/egocap/frontend/src/displayLatency.test.ts b/examples/egocap/frontend/src/displayLatency.test.ts
new file mode 100644
index 0000000000..5baec9f676
--- /dev/null
+++ b/examples/egocap/frontend/src/displayLatency.test.ts
@@ -0,0 +1,49 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+import { describe, expect, it } from "vitest";
+import type { ClockMapping } from "./clockExchange";
+import { latencySample, summarizeLatency } from "./displayLatency";
+
+const mapping = (over: Partial<ClockMapping> = {}): ClockMapping => ({
+  epoch: 1,
+  offsetNs: 3_000_000_000n,
+  rttNs: 4_000_000n,
+  uncertaintyNs: 2_000_000n,
+  acceptedAtNs: 0n,
+  ...over,
+});
+
+describe("latencySample", () => {
+  it("is display time on the publisher's clock minus its stamp", () => {
+    // Display at local 997.072 s is 1000.072 s remote; the stamp is 1000.000 s.
+    const s = latencySample(997_072, { userTimestamp: 1_000_000_000n }, mapping());
+    expect(s).toEqual({ ms: 72, epoch: 1, uncertaintyMs: 2 });
+  });
+
+  it("is null without a stamp, a mapping, or a finite display time", () => {
+    expect(latencySample(997_072, undefined, mapping())).toBeNull();
+    expect(latencySample(997_072, { userTimestamp: 1_000_000_000n }, null)).toBeNull();
+    expect(latencySample(Number.NaN, { userTimestamp: 1_000_000_000n }, mapping())).toBeNull();
+  });
+
+  it("is null when display precedes capture by more than the uncertainty, but keeps a small negative", () => {
+    expect(latencySample(996_990, { userTimestamp: 1_000_000_000n }, mapping())).toBeNull(); // -10 ms
+    expect(latencySample(996_999, { userTimestamp: 1_000_000_000n }, mapping())?.ms).toBeCloseTo(-1, 6);
+  });
+});
+
+describe("summarizeLatency", () => {
+  const sample = (ms: number, epoch: number, uncertaintyMs = 1) => ({ ms, epoch, uncertaintyMs });
+
+  it("uses only samples from the given epoch", () => {
+    const out = summarizeLatency([sample(10, 1), sample(30, 2, 3), sample(50, 2, 5), sample(70, 2, 4)], 2);
+    expect(out).toEqual({ mean: 50, p95: 70, uncertaintyMs: 5 });
+  });
+
+  it("is null when no sample has that epoch", () => {
+    expect(summarizeLatency([sample(10, 1)], 2)).toBeNull();
+    expect(summarizeLatency([], 1)).toBeNull();
+  });
+});
diff --git a/examples/egocap/frontend/src/liveKitClockSync.test.ts b/examples/egocap/frontend/src/liveKitClockSync.test.ts
new file mode 100644
index 0000000000..d9736d78b6
--- /dev/null
+++ b/examples/egocap/frontend/src/liveKitClockSync.test.ts
@@ -0,0 +1,135 @@
+// SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+//
+// SPDX-License-Identifier: Apache-2.0
+
+import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
+import { CLOCK_SYNC_TOPIC, encodeRequest } from "./clockExchange";
+import { LiveKitClockSync, measureTimerResolutionNs } from "./liveKitClockSync";
+
+const DATA_RECEIVED = "DataReceived";
+
+vi.mock("livekit-client", () => ({ RoomEvent: { DataReceived: "DataReceived" } }));
+
+function fakeRoom() {
+  const handlers: Array<(...a: any[]) => void> = [];
+  return {
+    handlers,
+    on: vi.fn((event: string, h: (...a: any[]) => void) => {
+      if (event === DATA_RECEIVED) handlers.push(h);
+    }),
+    off: vi.fn((event: string, h: (...a: any[]) => void) => {
+      const i = handlers.indexOf(h);
+      if (event === DATA_RECEIVED && i >= 0) handlers.splice(i, 1);
+    }),
+    localParticipant: { publishData: vi.fn(async () => {}) },
+  };
+}
+
+function reply(sequence: number, t1: bigint, t2: bigint, t3: bigint, length = 29): Uint8Array {
+  const bytes = new Uint8Array(29);
+  const view = new DataView(bytes.buffer);
+  bytes[0] = 0x52;
+  view.setUint32(1, sequence, true);
+  view.setBigInt64(5, t1, true);
+  view.setBigInt64(13, t2, true);
+  view.setBigInt64(21, t3, true);
+  return bytes.slice(0, length);
+}
+
+const MS = 1_000_000n;
+let now = 0n;
+beforeEach(() => {
+  vi.useFakeTimers();
+  now = 1_000n * MS;
+});
+afterEach(() => vi.useRealTimers());
+
+function started() {
+  const room = fakeRoom();
+  const sync = new LiveKitClockSync(room as any, "orin", () => now, 0n);
+  sync.start();
+  return { room, sync, deliver: (...a: any[]) => room.handlers.forEach((h) => h(...a)) };
+}
+
+describe("LiveKitClockSync", () => {
+  it("sends one request to the publisher on start, with t1 read from the clock", () => {
+    const { room } = started();
+    expect(room.localParticipant.publishData).toHaveBeenCalledTimes(1);
+    const [bytes, options] = (room.localParticipant.publishData.mock.calls[0] as unknown) as [Uint8Array, unknown];
+    expect(bytes).toEqual(encodeRequest(1, 1_000n * MS));
+    expect(options).toEqual({ reliable: false, destinationIdentities: ["orin"], topic: CLOCK_SYNC_TOPIC });
+  });
+
+  it("sends another request each second", () => {
+    const { room } = started();
+    vi.advanceTimersByTime(2000);
+    expect(room.localParticipant.publishData).toHaveBeenCalledTimes(3);
+  });
+
+  it("turns a matching reply into a mapping", () => {
+    const { sync, deliver } = started();
+    expect(sync.mapping()).toBeNull();
+    now = 1_010n * MS;
+    deliver(reply(1, 1_000n * MS, 4_005n * MS, 4_005n * MS), { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC);
+    const m = sync.mapping()!;
+    expect(m.offsetNs).toBe(3_000n * MS);
+    expect(m.rttNs).toBe(10n * MS);
+  });
+
+  it("ignores wrong topic, identity, length, sequence and t1 and keeps the outstanding request", () => {
+    const { sync, deliver } = started();
+    now = 1_010n * MS;
+    const good = reply(1, 1_000n * MS, 4_005n * MS, 4_005n * MS);
+    deliver(good, { identity: "orin" }, undefined, "other");
+    deliver(good, { identity: "viewer" }, undefined, CLOCK_SYNC_TOPIC);
+    deliver(good, undefined, undefined, CLOCK_SYNC_TOPIC);
+    deliver(reply(1, 1_000n * MS, 0n, 0n, 28), { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC);
+    deliver(reply(99, 1_000n * MS, 4_005n * MS, 4_005n * MS), { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC);
+    deliver(reply(1, 999n * MS, 4_005n * MS, 4_005n * MS), { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC);
+    expect(sync.mapping()).toBeNull();
+    deliver(good, { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC);
+    expect(sync.mapping()).not.toBeNull();
+  });
+
+  it("does not accept the same reply twice", () => {
+    const { sync, deliver } = started();
+    now = 1_010n * MS;
+    const good = reply(1, 1_000n * MS, 4_005n * MS, 4_005n * MS);
+    deliver(good, { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC);
+    now = 1_020n * MS;
+    deliver(good, { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC);
+    expect(sync.mapping()!.acceptedAtNs).toBe(1_010n * MS);
+  });
+
+  it("stop removes the handler and the timer", () => {
+    const { room, sync } = started();
+    sync.stop();
+    expect(room.handlers).toHaveLength(0);
+    vi.advanceTimersByTime(3000);
+    expect(room.localParticipant.publishData).toHaveBeenCalledTimes(1);
+    expect(vi.getTimerCount()).toBe(0);
+  });
+});
+
+describe("measureTimerResolutionNs", () => {
+  it("reports the smallest step of a stepping clock", () => {
+    let t = 0;
+    let calls = 0;
+    const clock = () => {
+      calls += 1;
+      if (calls % 3 === 0) t += 0.1;
+      return t;
+    };
+    expect(measureTimerResolutionNs(clock)).toBe(100_000n);
+  });
+
+  it("reports 100 ms for a frozen clock", () => {
+    let calls = 0;
+    // Time passes between calls only so the loop ends, without any step in the clock itself.
+    const clock = () => {
+      calls += 1;
+      return calls > 3 ? 31 : 0;
+    };
+    expect(measureTimerResolutionNs(clock)).toBe(100_000_000n);
+  });
+});
diff --git a/examples/egocap/frontend/src/livekitTestDoubles.ts b/examples/egocap/frontend/src/livekitTestDoubles.ts
index 7a7d294373..3597690121 100644
--- a/examples/egocap/frontend/src/livekitTestDoubles.ts
+++ b/examples/egocap/frontend/src/livekitTestDoubles.ts
@@ -17,6 +17,7 @@ export class FakeRoom {
     if (FakeRoom.connectError !== null) throw FakeRoom.connectError;
   });
   disconnect = vi.fn(async () => {});
+  localParticipant = { publishData: vi.fn(async () => {}) };
   /** Participants already in the room when a new Room is created, i.e. published before we joined. */
   static seed: Array<[string, any]> = [];
   static connectError: Error | null = null;
@@ -30,6 +31,10 @@ export class FakeRoom {
     this.handlers.set(event, [...(this.handlers.get(event) ?? []), handler]);
     return this;
   }
+  off(event: string, handler: Handler): this {
+    this.handlers.set(event, (this.handlers.get(event) ?? []).filter((h) => h !== handler));
+    return this;
+  }
   emit(event: string, ...args: any[]): void {
     for (const h of this.handlers.get(event) ?? []) h(...args);
   }
diff --git a/examples/egocap/frontend/src/useLiveKitPreview.test.ts b/examples/egocap/frontend/src/useLiveKitPreview.test.ts
index 7a4510de51..4e6abba7d4 100644
--- a/examples/egocap/frontend/src/useLiveKitPreview.test.ts
+++ b/examples/egocap/frontend/src/useLiveKitPreview.test.ts
@@ -17,6 +17,7 @@ vi.mock("livekit-client", async () => {
       Reconnecting: "Reconnecting",
       Reconnected: "Reconnected",
       Disconnected: "Disconnected",
+      DataReceived: "DataReceived",
     },
     Track: { Kind: { Video: "video", Audio: "audio" } },
   };
diff --git a/examples/egocap/frontend/src/zzprobe.test.ts b/examples/egocap/frontend/src/zzprobe.test.ts
new file mode 100644
index 0000000000..a9ec437115
--- /dev/null
+++ b/examples/egocap/frontend/src/zzprobe.test.ts
@@ -0,0 +1,3 @@
+import { it, expect } from "vitest";
+import { useLiveKitPreview } from "./useLiveKitPreview";
+it("loads", () => expect(typeof useLiveKitPreview).toBe("function"));

From 18e20941934efb22b38de814a3f2eac8417df529 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:08:41 -0800
Subject: [PATCH 34/54] egocap: remove a scratch probe test left in the
 frontend

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/frontend/src/zzprobe.test.ts | 3 ---
 1 file changed, 3 deletions(-)
 delete mode 100644 examples/egocap/frontend/src/zzprobe.test.ts

diff --git a/examples/egocap/frontend/src/zzprobe.test.ts b/examples/egocap/frontend/src/zzprobe.test.ts
deleted file mode 100644
index a9ec437115..0000000000
--- a/examples/egocap/frontend/src/zzprobe.test.ts
+++ /dev/null
@@ -1,3 +0,0 @@
-import { it, expect } from "vitest";
-import { useLiveKitPreview } from "./useLiveKitPreview";
-it("loads", () => expect(typeof useLiveKitPreview).toBe("function"));

From b3e0a38f370e398f75fb1ad16db73a962b357083 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:08:57 -0800
Subject: [PATCH 35/54] egocap: bound the timer-resolution probe by iterations
 as well as time

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../egocap/frontend/src/liveKitClockSync.ts   |  3 +-
 .../frontend/src/useLiveKitPreview.test.ts    | 37 ++++++++++++++++---
 2 files changed, 34 insertions(+), 6 deletions(-)

diff --git a/examples/egocap/frontend/src/liveKitClockSync.ts b/examples/egocap/frontend/src/liveKitClockSync.ts
index 15a6b267f3..d53c44d1c3 100644
--- a/examples/egocap/frontend/src/liveKitClockSync.ts
+++ b/examples/egocap/frontend/src/liveKitClockSync.ts
@@ -32,7 +32,8 @@ export function measureTimerResolutionNs(now: () => number = () => performance.n
   let last = start;
   let best = Number.POSITIVE_INFINITY;
   let steps = 0;
-  while (steps < 5 && now() - start < windowMs) {
+  // Bounded by iterations as well as time, so a clock that never advances cannot hang the caller.
+  for (let i = 0; i < 2_000_000 && steps < 5 && now() - start < windowMs; i += 1) {
     const t = now();
     if (t !== last) {
       best = Math.min(best, t - last);
diff --git a/examples/egocap/frontend/src/useLiveKitPreview.test.ts b/examples/egocap/frontend/src/useLiveKitPreview.test.ts
index 4e6abba7d4..c47850fe3f 100644
--- a/examples/egocap/frontend/src/useLiveKitPreview.test.ts
+++ b/examples/egocap/frontend/src/useLiveKitPreview.test.ts
@@ -23,6 +23,21 @@ vi.mock("livekit-client", async () => {
   };
 });
 
+// The real sync busy-waits on performance.now(), which fake timers freeze.
+const syncs: Array<{ start: ReturnType<typeof vi.fn>; stop: ReturnType<typeof vi.fn>; room: unknown; publisher: string }> = [];
+vi.mock("./liveKitClockSync", () => ({
+  LiveKitClockSync: class {
+    start = vi.fn();
+    stop = vi.fn();
+    constructor(
+      public room: unknown,
+      public publisher: string,
+    ) {
+      syncs.push(this);
+    }
+  },
+}));
+
 import { useLiveKitPreview } from "./useLiveKitPreview";
 
 const RETRY_MS = 3000;
@@ -49,6 +64,7 @@ async function mounted() {
 
 beforeEach(() => {
   FakeRoom.reset();
+  syncs.length = 0;
   vi.useFakeTimers();
 });
 
@@ -69,6 +85,17 @@ describe("useLiveKitPreview", () => {
     expect(FakeRoom.instances).toHaveLength(0);
   });
 
+  it("starts a clock sync against the publisher once connected and stops it on unmount", async () => {
+    stubFetch(ok());
+    const { result, unmount } = await mounted();
+    expect(syncs).toHaveLength(1);
+    expect(syncs[0].publisher).toBe("orin");
+    expect(syncs[0].start).toHaveBeenCalledTimes(1);
+    expect(result.current.clock).toBe(syncs[0]);
+    unmount();
+    expect(syncs[0].stop).toHaveBeenCalledTimes(1);
+  });
+
   it("requests a token for the offered room", async () => {
     const fetchFn = stubFetch(ok());
     await mounted();
@@ -100,7 +127,7 @@ describe("useLiveKitPreview", () => {
     expect(fetchFn).toHaveBeenCalledTimes(2);
     expect(fetchFn.mock.calls[1][0]).toBe("/api/livekit-token?room=r2");
     expect(FakeRoom.instances[1].connect).toHaveBeenCalledWith("wss://other", "tok");
-    expect(result.current.tiles).toEqual([{ name: "Head left", track: null }]);
+    expect(result.current.tiles).toEqual([{ name: "Head left", basis: 4, track: null }]);
   });
 
   it("goes back to idle and disconnects when the offer disappears", async () => {
@@ -122,8 +149,8 @@ describe("useLiveKitPreview", () => {
     expect(FakeRoom.instances[0].connect).toHaveBeenCalledWith("wss://lk", "tok");
     expect(result.current.phase).toBe("connected");
     expect(result.current.tiles).toEqual([
-      { name: "Head left", track: null },
-      { name: "Head right", track: null },
+      { name: "Head left", basis: 4, track: null },
+      { name: "Head right", basis: 4, track: null },
     ]);
   });
 
@@ -321,8 +348,8 @@ describe("useLiveKitPreview", () => {
     expect(result.current.phase).toBe("error");
     expect(result.current.message).toBe("Cannot reach the backend");
     expect(result.current.tiles).toEqual([
-      { name: "Head left", track: null },
-      { name: "Head right", track: null },
+      { name: "Head left", basis: 4, track: null },
+      { name: "Head right", basis: 4, track: null },
     ]);
     fail = false;
     await act(async () => {

From d601071e3d34650f17ddba2e9aafe4a1fa4176f1 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:19:15 -0800
Subject: [PATCH 36/54] egocap: FPS from frame endpoints, no UI-thread timing
 loop, age-aware clock mapping

The displayed rate now divides the change in presented frames by the
presentation times of the two frames that bound the window, and a counter
reset becomes the new baseline. The browser clock sync assumes a conservative
1 ms timer resolution instead of spinning the UI thread to measure it. Both
estimators pick the exchange with the smallest uncertainty now, half its
round trip plus the drift its age allows, and report that uncertainty, so a
low-round-trip exchange stops being preferred once it is old. Tests follow.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/clock_exchange.py      | 18 ++++++++-----
 .../egocap/frontend/src/LiveKitCameraTile.tsx | 17 +++++++-----
 examples/egocap/frontend/src/clockExchange.ts | 19 +++++++++----
 .../egocap/frontend/src/liveKitClockSync.ts   | 27 +++++--------------
 4 files changed, 42 insertions(+), 39 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/clock_exchange.py b/examples/egocap/backend/egocap_web/clock_exchange.py
index 375ce6736e..3a9a961e54 100644
--- a/examples/egocap/backend/egocap_web/clock_exchange.py
+++ b/examples/egocap/backend/egocap_web/clock_exchange.py
@@ -64,7 +64,8 @@ class ClockMapping:
     epoch: int
     offset_ns: int
     rtt_ns: int
-    #: Half the round trip: the largest error that unknown path asymmetry alone can cause.
+    #: Half the round trip, plus the drift allowed over the exchange's age: the error unknown path asymmetry and
+    #: clock rate difference can cause.
     uncertainty_ns: int
     #: Local time at which the exchange behind this mapping completed.
     accepted_at_ns: int
@@ -127,9 +128,10 @@ def add(self, exchange: Exchange) -> str | None:
             candidate = self._mapping_of(exchange)
         else:
             self._recent.append(exchange)
-            # On equal round trips the newest wins, so a steady link keeps its mapping fresh.
-            best = min(self._recent, key=lambda e: (e.rtt_ns, -e.t4))
-            candidate = self._mapping_of(best)
+            # The exchange with the smallest uncertainty now: half its round trip plus the drift its age could have
+            # added. A low round trip beats a fresher one only while its age stays cheaper; the newest wins ties.
+            best = min(self._recent, key=lambda e: (self._uncertainty_ns(e, exchange.t4), -e.t4))
+            candidate = self._mapping_of(best, exchange.t4)
         if candidate != previous:
             self._current = candidate
             self.history.append(candidate)
@@ -142,12 +144,16 @@ def mapping(self, now_ns: int) -> ClockMapping | None:
             return None
         return current
 
-    def _mapping_of(self, exchange: Exchange) -> ClockMapping:
+    def _uncertainty_ns(self, exchange: Exchange, now_ns: int) -> int:
+        """Half the round trip plus the offset drift the exchange's age allows at the allowed relative rate."""
+        return exchange.rtt_ns // 2 + int(self._drift_allowance * max(0, now_ns - exchange.t4))
+
+    def _mapping_of(self, exchange: Exchange, now_ns: int | None = None) -> ClockMapping:
         return ClockMapping(
             epoch=self._epoch,
             offset_ns=exchange.offset_ns,
             rtt_ns=exchange.rtt_ns,
-            uncertainty_ns=exchange.rtt_ns // 2,
+            uncertainty_ns=self._uncertainty_ns(exchange, exchange.t4 if now_ns is None else now_ns),
             accepted_at_ns=exchange.t4,
         )
 
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index eca8fc2880..470d467105 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -67,7 +67,8 @@ export function LiveKitCameraTile({
   const videoRef = useRef<HTMLVideoElement | null>(null);
   const lastFrameAtRef = useRef<number | null>(null);
   // Cumulative presented-frame count of the newest frame callback, and the count at the start of the window.
-  const presentedRef = useRef<number | null>(null);
+  // The newest frame callback's cumulative presented-frame count and that frame's own presentation time (ms).
+  const presentedRef = useRef<{ presented: number; at: number } | null>(null);
   const baselineRef = useRef<{ presented: number; at: number } | null>(null);
   // Which fields this browser's frame callback reports (it varies by browser), to read off for the latency work.
   const frameFieldsRef = useRef<string>("");
@@ -112,8 +113,8 @@ export function LiveKitCameraTile({
     };
     const watchFrames = (): void => {
       if (stopped) return;
-      callbackId = element.requestVideoFrameCallback((_now, metadata) => {
-        presentedRef.current = metadata.presentedFrames;
+      callbackId = element.requestVideoFrameCallback((now, metadata) => {
+        presentedRef.current = { presented: metadata.presentedFrames, at: metadata.presentationTime ?? now };
         frameFieldsRef.current = Object.keys(metadata).sort().join(", ");
         // The publisher's stamp for exactly this frame, by its RTP timestamp, against its expected display time.
         const rtp = (metadata as { rtpTimestamp?: number }).rtpTimestamp;
@@ -142,7 +143,7 @@ export function LiveKitCameraTile({
       if (isStale) setStale(true);
       if (frameFieldsRef.current !== "") setFrameFields(frameFieldsRef.current);
       // Displayed rate: the change in the browser's own presented-frame count over the window, not a callback tally.
-      const presented = presentedRef.current;
+      const latest = presentedRef.current;
       // The window's latency samples are summarized once and cleared; only those made under the clock mapping's
       // current epoch count, so a window spanning a discontinuity has no figure.
       const samples = latencySamplesRef.current;
@@ -162,11 +163,13 @@ export function LiveKitCameraTile({
         baselineRef.current = null;
         setFpsLabel("0 fps");
         setLatencyLabel(NO_LATENCY);
-      } else if (presented !== null) {
+      } else if (latest !== null) {
         setLatencyLabel(latencyText);
+        // Both ends of the window are frames the browser presented, so a late timer tick cannot skew the rate; a
+        // counter reset gives no figure and the new count becomes the baseline.
         const previous = baselineRef.current;
-        baselineRef.current = { presented, at: now };
-        const fps = previous === null ? null : displayedFps(previous, presented, now);
+        baselineRef.current = latest;
+        const fps = previous === null || latest.at <= previous.at ? null : displayedFps(previous, latest.presented, latest.at);
         if (fps !== null) setFpsLabel(`${fps.toFixed(0)} fps`);
       }
     }, FPS_WINDOW_MS);
diff --git a/examples/egocap/frontend/src/clockExchange.ts b/examples/egocap/frontend/src/clockExchange.ts
index d631d4dd77..208ae3f13b 100644
--- a/examples/egocap/frontend/src/clockExchange.ts
+++ b/examples/egocap/frontend/src/clockExchange.ts
@@ -95,12 +95,15 @@ export class ClockEstimator {
     } else {
       this.recent.push(exchange);
       if (this.recent.length > this.window) this.recent.shift();
-      // Lowest round trip wins; the newest on a tie, so a steady link stays fresh.
+      // The exchange with the smallest uncertainty now: half its round trip plus the drift its age could have
+      // added; the newest wins ties.
       let best = this.recent[0];
       for (const e of this.recent) {
-        if (rttNs(e) < rttNs(best) || (rttNs(e) === rttNs(best) && e.t4 > best.t4)) best = e;
+        const u = this.uncertaintyOf(e, exchange.t4);
+        const bu = this.uncertaintyOf(best, exchange.t4);
+        if (u < bu || (u === bu && e.t4 > best.t4)) best = e;
       }
-      candidate = this.mappingOf(best);
+      candidate = this.mappingOf(best, exchange.t4);
     }
     this.current = candidate;
     return null;
@@ -113,12 +116,18 @@ export class ClockEstimator {
     return current;
   }
 
-  private mappingOf(e: Exchange): ClockMapping {
+  /** Half the round trip, the drift its age allows, and this browser's timer resolution. */
+  private uncertaintyOf(e: Exchange, nowNs: bigint): bigint {
+    const age = nowNs > e.t4 ? nowNs - e.t4 : 0n;
+    return rttNs(e) / 2n + (age * DEFAULT_DRIFT_ALLOWANCE_PPM) / 1_000_000n + this.timerResolutionNs;
+  }
+
+  private mappingOf(e: Exchange, nowNs: bigint = e.t4): ClockMapping {
     return {
       epoch: this.epoch,
       offsetNs: offsetNs(e),
       rttNs: rttNs(e),
-      uncertaintyNs: rttNs(e) / 2n + this.timerResolutionNs,
+      uncertaintyNs: this.uncertaintyOf(e, nowNs),
       acceptedAtNs: e.t4,
     };
   }
diff --git a/examples/egocap/frontend/src/liveKitClockSync.ts b/examples/egocap/frontend/src/liveKitClockSync.ts
index d53c44d1c3..d3340287ea 100644
--- a/examples/egocap/frontend/src/liveKitClockSync.ts
+++ b/examples/egocap/frontend/src/liveKitClockSync.ts
@@ -22,27 +22,12 @@ export function browserNowNs(): bigint {
 }
 
 /**
- * The smallest step this browser's timer takes, in ns. Browsers coarsen performance.now(), and that is an error
- * source in every exchange. When no step is seen within a short window the timer is coarser than the window
- * allows measuring, and a deliberately large resolution is reported instead of a flattering small one.
+ * A conservative bound on this browser's timer resolution, in ns. Browsers coarsen performance.now() (1 ms by
+ * default in Firefox, more with fingerprinting resistance, 0.1 ms or finer in others), and that is an error source
+ * in every exchange. It is a declared bound, not a measurement: measuring it would mean spinning on the UI thread.
+ * A browser coarser than this under-reports the uncertainty.
  */
-export function measureTimerResolutionNs(now: () => number = () => performance.now()): bigint {
-  const windowMs = 30;
-  const start = now();
-  let last = start;
-  let best = Number.POSITIVE_INFINITY;
-  let steps = 0;
-  // Bounded by iterations as well as time, so a clock that never advances cannot hang the caller.
-  for (let i = 0; i < 2_000_000 && steps < 5 && now() - start < windowMs; i += 1) {
-    const t = now();
-    if (t !== last) {
-      best = Math.min(best, t - last);
-      last = t;
-      steps += 1;
-    }
-  }
-  return steps >= 2 ? BigInt(Math.round(best * 1e6)) : 100_000_000n;
-}
+export const ASSUMED_TIMER_RESOLUTION_NS = 1_000_000n;
 
 export class LiveKitClockSync {
   readonly estimator: ClockEstimator;
@@ -54,7 +39,7 @@ export class LiveKitClockSync {
     private readonly room: Room,
     private readonly publisher: string,
     private readonly nowNs: () => bigint = browserNowNs,
-    timerResolutionNs: bigint = measureTimerResolutionNs(),
+    timerResolutionNs: bigint = ASSUMED_TIMER_RESOLUTION_NS,
   ) {
     this.estimator = new ClockEstimator(timerResolutionNs);
   }

From 74bbb2f8ca3a4bf806c7508c87a131b64d455558 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:22:34 -0800
Subject: [PATCH 37/54] egocap: tests for the age-aware clock mapping, FPS
 frame endpoints, and the tracking host-poll boundary

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/LiveKitCameraTile.test.tsx   |  76 ++++++++++--
 .../egocap/frontend/src/clockExchange.test.ts |  65 ++++++++++
 .../frontend/src/liveKitClockSync.test.ts     |  35 ++----
 .../tests/backend/test_clock_exchange.py      |  76 ++++++++++--
 .../tests/backend/test_recording_adapter.py   | 114 ++++++++++++++++++
 5 files changed, 323 insertions(+), 43 deletions(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index c36a5fb841..3203bc70cb 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -10,11 +10,13 @@ import { fakeTrack } from "./livekitTestDoubles";
 type FrameMetadata = { presentedFrames: number; [field: string]: number };
 let frameCallbacks: Array<(now: number, metadata: FrameMetadata) => void> = [];
 let presentedTotal = 0;
+let presentationClockMs = 0;
 
 beforeEach(() => {
   vi.useFakeTimers();
   frameCallbacks = [];
   presentedTotal = 0;
+  presentationClockMs = 0;
   // jsdom has no requestVideoFrameCallback; this one lets a test present frames by hand.
   (HTMLVideoElement.prototype as any).requestVideoFrameCallback = function (cb: (typeof frameCallbacks)[number]) {
     frameCallbacks.push(cb);
@@ -30,12 +32,18 @@ afterEach(() => {
   delete (HTMLVideoElement.prototype as any).cancelVideoFrameCallback;
 });
 
-/** Presents `frames` frames at once: the browser's cumulative presentedFrames grows by that much. */
+/**
+ * Presents `frames` frames at once: the browser's cumulative presentedFrames grows by that much. The frame's
+ * presentationTime is its own, independent of the fake timers' clock: by default a second after the previous call's.
+ */
 function presentFrame(frames = 1, times: Record<string, number> = {}): void {
   presentedTotal += frames;
+  presentationClockMs += 1000;
   const cbs = frameCallbacks;
   frameCallbacks = [];
-  act(() => cbs.forEach((cb) => cb(0, { presentedFrames: presentedTotal, ...times })));
+  act(() =>
+    cbs.forEach((cb) => cb(0, { presentedFrames: presentedTotal, presentationTime: presentationClockMs, ...times })),
+  );
 }
 
 describe("LiveKitCameraTile placeholders", () => {
@@ -175,6 +183,50 @@ describe("LiveKitCameraTile FPS label", () => {
     expect(statsTexts()[0]).toBe("30 fps");
   });
 
+  it("divides by the callback presentationTime endpoints, not by the timer tick", () => {
+    renderTile();
+    presentFrame(0, { presentationTime: 5000 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    presentFrame(30, { presentationTime: 6000 });
+    act(() => {
+      vi.advanceTimersByTime(1500); // a late tick: the window's length still comes from the frames
+    });
+    expect(statsTexts()[0]).toBe("30 fps");
+  });
+
+  it("gives no figure for a window with a counter reset and is right again in the next", () => {
+    renderTile();
+    presentFrame(30, { presentationTime: 1000 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    presentedTotal = 0; // the browser restarted its count
+    presentFrame(10, { presentationTime: 2000 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(document.body.textContent).not.toMatch(/fps/);
+    presentFrame(30, { presentationTime: 3000 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(statsTexts()[0]).toBe("30 fps");
+  });
+
+  it("gives no figure for a window in which no new frame arrived", () => {
+    renderTile();
+    presentFrame(5, { presentationTime: 1000 });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    act(() => {
+      vi.advanceTimersByTime(1000);
+    });
+    expect(document.body.textContent).not.toMatch(/fps/);
+  });
+
   it("shows 0 FPS when no frame arrives for more than three seconds", () => {
     renderTile();
     presentFrame();
@@ -306,7 +358,7 @@ describe("LiveKitCameraTile latency", () => {
       vi.advanceTimersByTime(1000);
     });
     const span = document.querySelectorAll(".camera-stats")[1];
-    expect(span.getAttribute("title")).toContain("reports: expectedDisplayTime, presentedFrames, rtpTimestamp.");
+    expect(span.getAttribute("title")).toContain("reports: expectedDisplayTime, presentationTime, presentedFrames, rtpTimestamp.");
   });
 
   it("has no reports text in the tooltip before any frame", () => {
@@ -351,9 +403,9 @@ describe("LiveKitCameraTile measured latency", () => {
   const MS = 1_000_000n;
   /** Remote clock = local + 3 s, so a frame displayed at local 997_072 ms and stamped 1_000_000 us is 72 ms old. */
   const mappingOf = (epoch = 1) => ({ epoch, offsetNs: 3_000n * MS, rttNs: 4n * MS, uncertaintyNs: 2n * MS, acceptedAtNs: 0n });
-  const stampedTrack = (stamp: { userTimestamp: bigint } | undefined = { userTimestamp: 1_000_000_000n }) => {
+  const stampedTrack = (stamp: { userTimestamp: bigint } | null = { userTimestamp: 1_000_000_000n }) => {
     const track = fakeTrack();
-    track.lookupFrameMetadata = vi.fn(() => stamp);
+    track.lookupFrameMetadata = vi.fn(() => stamp ?? undefined);
     return track;
   };
   const frame = { rtpTimestamp: 42, expectedDisplayTime: 997_072 };
@@ -382,9 +434,11 @@ describe("LiveKitCameraTile measured latency", () => {
   });
 
   it("is unavailable without a stamp", () => {
-    renderWith(stampedTrack(undefined), { mapping: () => mappingOf() });
+    renderWith(stampedTrack(null), { mapping: () => mappingOf() });
     presentFrame(1, frame);
-    windows();
+    windows(1);
+    presentFrame(1, frame); // a frame in the second window, so it has an FPS figure beside the latency
+    windows(1);
     expect(statsTexts()[1]).toBe("– ms latency");
   });
 
@@ -392,7 +446,9 @@ describe("LiveKitCameraTile measured latency", () => {
     const track = stampedTrack();
     renderWith(track, { mapping: () => mappingOf() }, 1);
     presentFrame(1, frame);
-    windows();
+    windows(1);
+    presentFrame(1, frame); // a frame in the second window, so it has an FPS figure beside the latency
+    windows(1);
     expect(statsTexts()[1]).toBe("– ms latency");
     expect(track.lookupFrameMetadata).not.toHaveBeenCalled();
   });
@@ -400,7 +456,9 @@ describe("LiveKitCameraTile measured latency", () => {
   it("is unavailable without a mapping", () => {
     renderWith(stampedTrack(), { mapping: () => null });
     presentFrame(1, frame);
-    windows();
+    windows(1);
+    presentFrame(1, frame); // a frame in the second window, so it has an FPS figure beside the latency
+    windows(1);
     expect(statsTexts()[1]).toBe("– ms latency");
   });
 
diff --git a/examples/egocap/frontend/src/clockExchange.test.ts b/examples/egocap/frontend/src/clockExchange.test.ts
index d48c589e20..89b35d8ecb 100644
--- a/examples/egocap/frontend/src/clockExchange.test.ts
+++ b/examples/egocap/frontend/src/clockExchange.test.ts
@@ -106,6 +106,71 @@ describe("ClockEstimator", () => {
     expect(est.mapping(2n * MS + 5_000n * MS + 1n)).toBeNull();
   });
 
+  it("keeps an early low-round-trip exchange only while its age costs less than the round-trip saving", () => {
+    // Early exchange rtt 2.2 ms vs later rtt 10 ms: the saving of 3.9 ms is spent by 200 ppm after about 19.5 s.
+    const est = new ClockEstimator(0n, 250n * MS, 5_000n * MS, 64);
+    const best = exchange(1000n * MS, 100n, MS, 1_200_000n);
+    est.add(best);
+    for (let i = 1; i <= 30; i++) {
+      const e = exchange(1000n * MS + BigInt(i) * 1000n * MS, 100n, 5n * MS, 5n * MS);
+      est.add(e);
+      const m = est.mapping(e.t4)!;
+      expect(m).not.toBeNull();
+      if (i <= 19) {
+        expect(m.acceptedAtNs).toBe(best.t4);
+        expect(m.rttNs).toBe(2_200_000n);
+      } else {
+        expect(m.acceptedAtNs).toBe(e.t4);
+        expect(m.uncertaintyNs).toBe(5n * MS);
+      }
+    }
+  });
+
+  it("does not let a high-round-trip outlier replace a better exchange, and ages the uncertainty", () => {
+    const est = new ClockEstimator();
+    const good = exchange(1000n * MS, 10n * MS, MS, MS);
+    est.add(good);
+    const slow = exchange(2000n * MS, 10n * MS, 20n * MS, 20n * MS);
+    est.add(slow);
+    const m = est.mapping(slow.t4)!;
+    expect(m.acceptedAtNs).toBe(good.t4);
+    expect(m.rttNs).toBe(2n * MS);
+    expect(m.uncertaintyNs).toBe(MS + ((slow.t4 - good.t4) * 200n) / 1_000_000n);
+  });
+
+  it("includes the age of the chosen exchange in the uncertainty", () => {
+    const est = new ClockEstimator();
+    const old = exchange(1000n * MS, 0n, MS, MS);
+    est.add(old);
+    const fresh = exchange(11_000n * MS, 0n, 5n * MS, 5n * MS);
+    est.add(fresh);
+    const m = est.mapping(fresh.t4)!;
+    expect(m.acceptedAtNs).toBe(old.t4);
+    expect(m.uncertaintyNs).toBe(MS + ((fresh.t4 - old.t4) * 200n) / 1_000_000n);
+  });
+
+  it("picks the newest exchange when uncertainties tie", () => {
+    // Same round trip and (via a window of one older exchange) the same age cost cannot tie, so tie at age zero:
+    // two exchanges completing at the same local time.
+    const est = new ClockEstimator();
+    const a: Exchange = { t1: 1000n * MS, t2: 1000n * MS + 2n * MS, t3: 1000n * MS + 2n * MS, t4: 1000n * MS + 4n * MS };
+    const b: Exchange = { t1: 1002n * MS, t2: 1002n * MS + 1_000n + 2n * MS, t3: 1002n * MS + 1_000n + 2n * MS, t4: 1000n * MS + 4n * MS };
+    est.add(a);
+    est.add(b);
+    expect(est.mapping(a.t4)!.offsetNs).toBe(offsetNs(b));
+  });
+
+  it("does not grow the uncertainty with age while fresh exchanges of the same round trip keep arriving", () => {
+    const est = new ClockEstimator();
+    for (let i = 1; i <= 30; i++) {
+      const e = exchange(BigInt(i) * 1000n * MS, MS, 2n * MS, 2n * MS);
+      est.add(e);
+      const m = est.mapping(e.t4)!;
+      expect(m.acceptedAtNs).toBe(e.t4);
+      expect(m.uncertaintyNs).toBe(2n * MS);
+    }
+  });
+
   it("adds the timer resolution to the uncertainty", () => {
     const est = new ClockEstimator(100n * MS);
     est.add(exchange(0n, 0n, 5n * MS, 5n * MS));
diff --git a/examples/egocap/frontend/src/liveKitClockSync.test.ts b/examples/egocap/frontend/src/liveKitClockSync.test.ts
index d9736d78b6..e465a487cf 100644
--- a/examples/egocap/frontend/src/liveKitClockSync.test.ts
+++ b/examples/egocap/frontend/src/liveKitClockSync.test.ts
@@ -4,7 +4,7 @@
 
 import { afterEach, beforeEach, describe, expect, it, vi } from "vitest";
 import { CLOCK_SYNC_TOPIC, encodeRequest } from "./clockExchange";
-import { LiveKitClockSync, measureTimerResolutionNs } from "./liveKitClockSync";
+import { ASSUMED_TIMER_RESOLUTION_NS, LiveKitClockSync } from "./liveKitClockSync";
 
 const DATA_RECEIVED = "DataReceived";
 
@@ -101,6 +101,16 @@ describe("LiveKitClockSync", () => {
     expect(sync.mapping()!.acceptedAtNs).toBe(1_010n * MS);
   });
 
+  it("adds the assumed timer resolution to the mapping uncertainty by default", () => {
+    const room = fakeRoom();
+    const sync = new LiveKitClockSync(room as any, "orin", () => now);
+    sync.start();
+    now = 1_010n * MS;
+    room.handlers.forEach((h) => h(reply(1, 1_000n * MS, 4_005n * MS, 4_005n * MS), { identity: "orin" }, undefined, CLOCK_SYNC_TOPIC));
+    expect(ASSUMED_TIMER_RESOLUTION_NS).toBe(1n * MS);
+    expect(sync.mapping()!.uncertaintyNs).toBe(5n * MS + ASSUMED_TIMER_RESOLUTION_NS);
+  });
+
   it("stop removes the handler and the timer", () => {
     const { room, sync } = started();
     sync.stop();
@@ -110,26 +120,3 @@ describe("LiveKitClockSync", () => {
     expect(vi.getTimerCount()).toBe(0);
   });
 });
-
-describe("measureTimerResolutionNs", () => {
-  it("reports the smallest step of a stepping clock", () => {
-    let t = 0;
-    let calls = 0;
-    const clock = () => {
-      calls += 1;
-      if (calls % 3 === 0) t += 0.1;
-      return t;
-    };
-    expect(measureTimerResolutionNs(clock)).toBe(100_000n);
-  });
-
-  it("reports 100 ms for a frozen clock", () => {
-    let calls = 0;
-    // Time passes between calls only so the loop ends, without any step in the clock itself.
-    const clock = () => {
-      calls += 1;
-      return calls > 3 ? 31 : 0;
-    };
-    expect(measureTimerResolutionNs(clock)).toBe(100_000_000n);
-  });
-});
diff --git a/examples/egocap/tests/backend/test_clock_exchange.py b/examples/egocap/tests/backend/test_clock_exchange.py
index ac0d047252..f83da445aa 100644
--- a/examples/egocap/tests/backend/test_clock_exchange.py
+++ b/examples/egocap/tests/backend/test_clock_exchange.py
@@ -82,10 +82,58 @@ def test_high_rtt_outlier_does_not_replace_better_mapping() -> None:
     good = estimator.mapping(2 * S)
     assert good is not None
 
-    # Same clock, but a much slower exchange: it joins the window yet must not win.
-    estimator.add(make_exchange(2 * S, offset=10 * MS, forward=20 * MS, back=20 * MS))
-    assert estimator.mapping(3 * S) is good
-    assert estimator.history == [good]
+    # Same clock, but a much slower exchange: 0.5 * (40 - 2) ms is far more than 200 ppm of a 1 s age, so the old
+    # exchange stays the one the mapping comes from; only its reported uncertainty has grown with its age.
+    slow = make_exchange(2 * S, offset=10 * MS, forward=20 * MS, back=20 * MS)
+    estimator.add(slow)
+    mapping = estimator.mapping(3 * S)
+    assert mapping is not None
+    assert (mapping.offset_ns, mapping.rtt_ns, mapping.accepted_at_ns) == (
+        good.offset_ns,
+        good.rtt_ns,
+        good.accepted_at_ns,
+    )
+    assert mapping.uncertainty_ns == good.uncertainty_ns + int(200e-6 * (slow.t4 - good.accepted_at_ns))
+
+
+def test_uncertainty_includes_the_age_of_the_chosen_exchange() -> None:
+    estimator = ClockEstimator()
+    old = make_exchange(S, offset=MS, forward=MS, back=MS)
+    estimator.add(old)
+    fresh = make_exchange(11 * S, offset=MS, forward=5 * MS, back=5 * MS)
+    estimator.add(fresh)
+
+    mapping = estimator.mapping(fresh.t4)
+    assert mapping is not None
+    assert mapping.accepted_at_ns == old.t4
+    age_ns = fresh.t4 - old.t4
+    assert mapping.uncertainty_ns == MS + int(200e-6 * age_ns)
+    assert mapping.uncertainty_ns > old.rtt_ns // 2
+
+
+def test_equal_uncertainty_picks_the_newest_exchange() -> None:
+    # With no drift allowance an equal round trip is an exact tie.
+    estimator = ClockEstimator(drift_allowance=0.0)
+    first = make_exchange(S, offset=MS, forward=2 * MS, back=2 * MS)
+    second = make_exchange(2 * S, offset=MS + 1_000, forward=2 * MS, back=2 * MS)
+    estimator.add(first)
+    estimator.add(second)
+
+    mapping = estimator.mapping(second.t4)
+    assert mapping is not None
+    assert mapping.accepted_at_ns == second.t4
+    assert mapping.offset_ns == second.offset_ns
+
+
+def test_fresher_exchange_with_the_same_rtt_keeps_uncertainty_from_growing_with_age() -> None:
+    estimator = ClockEstimator()
+    for second in range(1, 31):
+        ex = make_exchange(second * S, offset=MS, forward=2 * MS, back=2 * MS)
+        estimator.add(ex)
+        mapping = estimator.mapping(ex.t4)
+        assert mapping is not None
+        assert mapping.accepted_at_ns == ex.t4
+        assert mapping.uncertainty_ns == 2 * MS
 
 
 def test_best_of_window_is_the_lowest_rtt() -> None:
@@ -232,19 +280,27 @@ def test_reset_bumps_epoch_clears_mapping_and_keeps_history() -> None:
     assert len(estimator.history) == len(adopted) + 1
 
 
-def test_jittery_link_stays_available_while_replies_arrive_and_keeps_best_exchange() -> None:
-    # The best exchange is the earliest and ages far past the stale limit while later, worse ones keep arriving.
+def test_jittery_link_stays_available_and_keeps_the_best_exchange_until_its_age_costs_more() -> None:
+    # The early exchange (rtt 2.2 ms) beats later ones (rtt 10 ms) while 200 ppm of its age is under the 3.9 ms
+    # difference in half round trips, about 19.5 s; after that the newest exchange is chosen.
+    # Replies keep arriving, so the mapping stays available throughout.
     estimator = ClockEstimator(window=64)
     best = make_exchange(S, offset=MS, forward=MS, back=1_200_000)
     estimator.add(best)
-    for i in range(1, 21):
+    for i in range(1, 31):
         ex = make_exchange(S + i * S, offset=MS, forward=5 * MS, back=5 * MS)
         assert estimator.add(ex) is None
         mapping = estimator.mapping(ex.t4)
         assert mapping is not None, f"mapping lost {i} s in"
-        assert mapping.offset_ns == best.offset_ns
-        assert mapping.rtt_ns == best.rtt_ns
-        assert mapping.accepted_at_ns == best.t4
+        if i <= 19:
+            assert mapping.offset_ns == best.offset_ns
+            assert mapping.rtt_ns == best.rtt_ns
+            assert mapping.accepted_at_ns == best.t4
+        else:
+            assert mapping.offset_ns == ex.offset_ns
+            assert mapping.rtt_ns == ex.rtt_ns
+            assert mapping.accepted_at_ns == ex.t4
+            assert mapping.uncertainty_ns == 5 * MS
 
 
 def test_mapping_goes_stale_when_exchanges_stop_and_returns_with_a_new_one() -> None:
diff --git a/examples/egocap/tests/backend/test_recording_adapter.py b/examples/egocap/tests/backend/test_recording_adapter.py
index 25a5229d0e..2ffcb750d9 100644
--- a/examples/egocap/tests/backend/test_recording_adapter.py
+++ b/examples/egocap/tests/backend/test_recording_adapter.py
@@ -709,3 +709,117 @@ async def run():
         assert "byte budget" in ingress.failure
 
     asyncio.run(run())
+
+
+# --- tracking time is the host poll time, on the same timeline as LiveKit video -------
+
+
+def _tracking_frame(capture_time_ns: int, receive_time_ns: int) -> CaptureFrame:
+    return CaptureFrame(
+        session_id="s",
+        description=None,  # type: ignore[arg-type]
+        stream_id=1,
+        sequence=0,
+        capture_time_ns=capture_time_ns,
+        receive_time_ns=receive_time_ns,
+        payload=capture_protocol.encode_tracking_frame(default_tracking_values()),
+    )
+
+
+def test_pico_and_manus_samples_are_both_stamped_with_the_one_host_poll_frame_time():
+    # The recorded tracking time is when the host polled the devices (HOST_POLL), not a device measurement time:
+    # every sample from one frame carries that frame's single timestamp, whichever source it is.
+    frame = _tracking_frame(capture_time_ns=5_000_123_456_789, receive_time_ns=5_000_130_000_000)
+    samples = _convert_raw_item(frame)
+
+    assert sorted(s.source for s in samples) == ["manus_glove", "pico_controller"]
+    for sample in samples:
+        assert isinstance(sample, NumericSample)
+        assert sample.capture_time == frame.capture_time_ns / 1e9
+        assert sample.receive_time == frame.receive_time_ns / 1e9
+
+
+async def test_livekit_video_and_tracking_from_one_frame_share_the_pc_monotonic_timeline():
+    from egocap_web.clock_exchange import ClockEstimator, Exchange
+    from egocap_web.livekit_receiver import ReceivedFrame
+    from egocap_web.livekit_recording import LiveKitRecordingFeed
+
+    S = 1_000_000_000
+    event_ns = 5_000 * S  # truth: the PC-monotonic time of one event seen by both sources
+    camera_offset_ns = 3_200_000_000_000  # the camera's clock runs this far ahead of the PC's
+
+    # One exchange, symmetric 2 ms each way, so the mapping is exact and its uncertainty is 2 ms.
+    t1 = event_ns - 2 * S
+    estimator = ClockEstimator()
+    estimator.add(
+        Exchange(
+            t1=t1,
+            t2=t1 + 2_000_000 + camera_offset_ns,
+            t3=t1 + 2_000_000 + camera_offset_ns,
+            t4=t1 + 4_000_000,
+        )
+    )
+    now_ns = event_ns + 50_000_000
+    mapping = estimator.mapping(now_ns)
+    assert mapping is not None
+
+    class Clock:
+        discontinuity = False
+
+        def mapping(self):
+            return estimator.mapping(now_ns)
+
+    class Receiver:
+        clock_sync = Clock()
+
+        def __init__(self, frames):
+            self.frames = list(frames)
+
+        async def next_frame_or_lost(self, stream_id):
+            return self.frames.pop(0) if self.frames else None
+
+    class Ingress:
+        def __init__(self):
+            self.offered = []
+
+        def offer(self, item):
+            self.offered.append(item)
+            return True
+
+    stream = capture_protocol.LiveKitCameraStream(
+        stream_id=16,
+        name="cam",
+        url="wss://lk",
+        room="r",
+        publisher="o",
+        track="t",
+        timestamp_basis=capture_protocol.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US,
+    )
+    received = ReceivedFrame(
+        stream_id=16,
+        image=np.zeros((2, 2, 3), dtype=np.uint8),
+        receive_time_ns=now_ns,
+        transport_timestamp_us=0,
+        user_timestamp_us=(event_ns + camera_offset_ns) // 1000,
+        frame_id=None,
+        user_data=None,
+    )
+    ingress = Ingress()
+    feed = LiveKitRecordingFeed(Receiver([received]), [stream], ingress, {16: "cam"})  # type: ignore[arg-type]
+    feed.start()
+    for _ in range(20):
+        await asyncio.sleep(0)
+    await feed.stop()
+
+    (video,) = ingress.offered
+    assert isinstance(video, VideoSample)
+    tracking = _convert_raw_item(_tracking_frame(capture_time_ns=event_ns + 1_500_000, receive_time_ns=now_ns))
+    assert tracking
+
+    # Both are seconds on the PC's monotonic clock; their gap is the synthetic 1.5 ms (the host poll lags the
+    # event), and the video time is within the mapping's uncertainty of the truth.
+    truth_gap_s = 1.5e-3
+    tolerance_s = mapping.uncertainty_ns / 1e9
+    assert abs(video.capture_time - event_ns / S) <= tolerance_s
+    for sample in tracking:
+        assert abs((sample.capture_time - video.capture_time) - truth_gap_s) <= tolerance_s

From 963be9de5dfbc2fa298ba71855bcc7d49528f92e Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:26:55 -0800
Subject: [PATCH 38/54] egocap: record the clock mappings a take was made under
 in its attributes

The recording service takes timing evidence for the active episode
(set_episode_timing, in memory, written under 'timing' in the kept episode's
attributes; a take recovered after a crash has none). The coordinator gathers it
from the LiveKit source before the room is left: the method, the clock names,
each stream's timestamp basis, the mappings adopted (epoch, offset, round trip,
uncertainty, time accepted; the newest 64), whether a discontinuity occurred,
rejected exchanges, and that tracking time is the host poll time. The
estimator's history is bounded. Tests follow.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/clock_exchange.py      |  5 ++-
 .../backend/egocap_web/livekit_recording.py   | 37 +++++++++++++++++++
 .../backend/egocap_web/recording_session.py   |  9 +++++
 .../recording_service/recording_service.py    | 21 ++++++++++-
 4 files changed, 69 insertions(+), 3 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/clock_exchange.py b/examples/egocap/backend/egocap_web/clock_exchange.py
index 3a9a961e54..cb76bfb259 100644
--- a/examples/egocap/backend/egocap_web/clock_exchange.py
+++ b/examples/egocap/backend/egocap_web/clock_exchange.py
@@ -29,6 +29,8 @@
 DEFAULT_WINDOW = 8
 #: Relative clock rate difference tolerated between two mappings before their offsets are judged discontinuous.
 DEFAULT_DRIFT_ALLOWANCE = 200e-6
+#: Adopted mappings kept as evidence; the newest are the ones a take can be recorded under.
+_MAX_HISTORY = 256
 
 
 @dataclass(frozen=True)
@@ -96,7 +98,7 @@ def __init__(
         #: about how old the best exchange in the window is.
         self._newest_ns: int | None = None
         #: Every mapping adopted, oldest first, so a take can record the epochs and quality it was made under.
-        self.history: list[ClockMapping] = []
+        self.history: list[ClockMapping] = []  # trimmed to the newest _MAX_HISTORY
         #: Set, and left set, when a new best mapping disagrees with the last by more than their uncertainties and
         #: the allowed drift explain: mappings before it stay as they were, and a take spanning it is not aligned.
         self.discontinuity = False
@@ -135,6 +137,7 @@ def add(self, exchange: Exchange) -> str | None:
         if candidate != previous:
             self._current = candidate
             self.history.append(candidate)
+            del self.history[:-_MAX_HISTORY]
         return None
 
     def mapping(self, now_ns: int) -> ClockMapping | None:
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 8c08735b95..70ce640eb0 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -44,6 +44,8 @@
 _JOIN_TIMEOUT_S = 15.0
 #: How long leaving the room may take before teardown moves on and lets the leave finish in the background.
 _LEAVE_TIMEOUT_S = 10.0
+#: Most mappings recorded as a take's timing evidence, the newest ones; the estimator may have adopted more.
+_MAX_EVIDENCE_MAPPINGS = 64
 
 
 def is_loopback_url(url: str) -> bool:
@@ -375,6 +377,41 @@ def start(self, ingress: RecordingIngress, on_failure: Callable[[str], None]) ->
         )
         self._feed.start()
 
+    def timing_evidence(self) -> dict[str, Any] | None:
+        """The clock mappings this take's video was placed on the PC's clock with, for the take's attributes.
+
+        None when there is no clock sync (nothing LiveKit was recorded). Read before ``stop()``, which leaves the
+        room.
+        """
+        receiver = self._receiver
+        clock_sync = None if receiver is None else receiver.clock_sync
+        if clock_sync is None:
+            return None
+        mappings = clock_sync.estimator.history[-_MAX_EVIDENCE_MAPPINGS:]
+        return {
+            "clock_mapping": {
+                "method": "four_timestamp_exchange",
+                "local_clock": "pc_monotonic",
+                "remote_clock": "publisher_monotonic",
+                "streams": [{"name": s.name, "timestamp_basis": s.timestamp_basis.name} for s in self._streams],
+                "mappings": [
+                    {
+                        "epoch": m.epoch,
+                        "offset_ns": m.offset_ns,
+                        "rtt_ns": m.rtt_ns,
+                        "uncertainty_ns": m.uncertainty_ns,
+                        "accepted_at_ns": m.accepted_at_ns,
+                    }
+                    for m in mappings
+                ],
+                "discontinuity": clock_sync.discontinuity,
+                "exchanges_rejected": clock_sync.rejected,
+                "mapping_current_at_stop": clock_sync.mapping() is not None,
+            },
+            # Tracking samples carry the host's poll time for every source; device measurement times are unmapped.
+            "tracking_time": "host_poll",
+        }
+
     async def stop(self) -> None:
         """Stop feeding and leave the room. Safe to call at any point, including after a failed prepare."""
         feed, receiver = self._feed, self._receiver
diff --git a/examples/egocap/backend/egocap_web/recording_session.py b/examples/egocap/backend/egocap_web/recording_session.py
index 6737097556..c803baee4a 100644
--- a/examples/egocap/backend/egocap_web/recording_session.py
+++ b/examples/egocap/backend/egocap_web/recording_session.py
@@ -192,6 +192,8 @@ def __init__(
         # Optional LiveKit video for each take: joined before storage opens, fed after the ingress starts, left
         # before the ingress is retired.
         self._livekit_source = livekit_source
+        #: The clock-mapping evidence of the take in progress, gathered when its video source stops.
+        self._timing_evidence: dict[str, Any] | None = None
         self._queue_capacity = queue_capacity
         self._queue_bytes = queue_bytes
         self._readiness_check = readiness_check
@@ -594,6 +596,9 @@ async def _stop_episode_impl(self, service: _RecordingService, episode_id: str)
             result = await service.interrupt_episode(episode_id, self._last_issue)
             self._emit_result(result)
             return result
+        if self._timing_evidence is not None:
+            service.set_episode_timing(episode_id, self._timing_evidence)
+            self._timing_evidence = None
         result = await service.stop_episode(episode_id)
         self._emit_result(result)
         return result
@@ -638,6 +643,10 @@ async def _retire_current_ingress(self) -> _IngressRetirement:
         if ingress is None:
             return _IngressRetirement(settled=True, failure=None)
         if self._livekit_source is not None:
+            # Read before the room is left: the clock mappings the take was recorded under.
+            evidence = self._livekit_source.timing_evidence()
+            if evidence is not None:
+                self._timing_evidence = evidence
             # The producer stops first, so nothing is offered to an ingress that is draining.
             await self._livekit_source.stop()
         settled = await ingress.stop()
diff --git a/examples/egocap/recording/recording_service/recording_service.py b/examples/egocap/recording/recording_service/recording_service.py
index d4a002f745..bf02de37d6 100644
--- a/examples/egocap/recording/recording_service/recording_service.py
+++ b/examples/egocap/recording/recording_service/recording_service.py
@@ -169,6 +169,9 @@ def __init__(self, manifest: EpisodeManifest, sources: list[str], store: Episode
         self.operation_task: asyncio.Task[Any] | None = None
         self.operation = ""
         self.error: str | None = None
+        # Timing evidence for this take (clock mappings and their quality), written to the kept episode's
+        # attributes. Held in memory only: a take recovered after a crash has none, and says nothing of timing.
+        self.timing: dict[str, Any] | None = None
         self.released = store is None
         # Work ownership: ``operating`` while a lifecycle operation owns the take,
         # ``in_flight`` while a storage call is running even if its waiter went away.
@@ -264,6 +267,15 @@ async def stop_episode(self, episode_id: str) -> EpisodeResult:
             raise StateError(f"episode {episode_id!r} already has a {take.operation} in progress")
         return await self._begin(take, "stop", self._stop_impl(take))
 
+    def set_episode_timing(self, episode_id: str, timing: dict[str, Any]) -> None:
+        """Attach timing evidence (JSON-serializable) to the active episode; it is written with its attributes.
+
+        Call before ``stop_episode``. It replaces any earlier value, is not persisted in the recovery manifest, and
+        raises ``StateError`` if the episode is not the active one.
+        """
+        json.dumps(timing)  # a value that cannot be written must fail here, not while the take is finalizing
+        self._active(episode_id, "set timing").timing = timing
+
     async def discard_episode(self, episode_id: str) -> EpisodeResult:
         """Close admission, settle all work, and delete only this episode's unfinished output."""
         take = self._active(episode_id, "discard")
@@ -944,7 +956,10 @@ async def _finish_impl(self, take: _Take) -> EpisodeResult:
                     # gone and the final one already holds the data: never rewrite it, only verify its identity.
                     if where == "pending":
                         await self._call(
-                            take, write_episode_attributes, session_path / m.pending_path, self._attributes(m)
+                            take,
+                            write_episode_attributes,
+                            session_path / m.pending_path,
+                            self._attributes(m, take.timing),
                         )
                     final = await self._call(take, finalize_episode_dir, session_path, m)
                     await self._checkpoint(take, storage_phase="FINALIZED")
@@ -1006,7 +1021,7 @@ async def _checkpoint(self, take: _Take, **changes: Any) -> None:
         for name, value in changes.items():
             setattr(take.manifest, name, value)
 
-    def _attributes(self, m: EpisodeManifest) -> dict[str, Any]:
+    def _attributes(self, m: EpisodeManifest, timing: dict[str, Any] | None = None) -> dict[str, Any]:
         """Dataset-level metadata written to a kept episode, using the names existing readers consume.
 
         Only checks that actually ran are reported: the mandatory integrity check is recorded, and capture
@@ -1039,6 +1054,8 @@ def _attributes(self, m: EpisodeManifest) -> dict[str, Any]:
             "config_digest": m.config_digest,
             "sources": m.sources,
         }
+        if timing:
+            attributes["timing"] = timing
         if m.assignment is not None:
             attributes.update(
                 {"studio": m.studio, "route_group": m.assignment["group"], "output_index": m.assignment["slot"]}

From 186b4c19e05054efdedb470b655ccaa9cecd646f Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:31:48 -0800
Subject: [PATCH 39/54] egocap: save each clock exchange once in a take's
 timing evidence, with tests

The estimator re-reports one exchange with a growing age allowance while no
newer exchange arrives; the take's evidence now keeps the first report of each
exchange. Adds tests for set_episode_timing, timing_evidence(), the coordinator
wiring and the bounded estimator history.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/livekit_recording.py   |   5 +-
 .../tests/backend/test_clock_exchange.py      |  16 ++-
 .../backend/test_livekit_recording_source.py  | 107 +++++++++++++++++
 .../backend/test_recording_session_livekit.py |  57 ++++++++-
 .../recording_service/test_episode_timing.py  | 111 ++++++++++++++++++
 5 files changed, 293 insertions(+), 3 deletions(-)
 create mode 100644 examples/egocap/tests/recording_service/test_episode_timing.py

diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 70ce640eb0..daa65bcaac 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -387,7 +387,10 @@ def timing_evidence(self) -> dict[str, Any] | None:
         clock_sync = None if receiver is None else receiver.clock_sync
         if clock_sync is None:
             return None
-        mappings = clock_sync.estimator.history[-_MAX_EVIDENCE_MAPPINGS:]
+        # The estimator re-reports one exchange with a growing age allowance while no newer one arrives; keep the
+        # first report of each exchange.
+        unique = {(m.epoch, m.accepted_at_ns): m for m in reversed(clock_sync.estimator.history)}
+        mappings = sorted(unique.values(), key=lambda m: (m.accepted_at_ns, m.epoch))[-_MAX_EVIDENCE_MAPPINGS:]
         return {
             "clock_mapping": {
                 "method": "four_timestamp_exchange",
diff --git a/examples/egocap/tests/backend/test_clock_exchange.py b/examples/egocap/tests/backend/test_clock_exchange.py
index f83da445aa..f6e9f0d06c 100644
--- a/examples/egocap/tests/backend/test_clock_exchange.py
+++ b/examples/egocap/tests/backend/test_clock_exchange.py
@@ -10,7 +10,7 @@
 
 import pytest
 
-from egocap_web.clock_exchange import ClockEstimator, Exchange
+from egocap_web.clock_exchange import _MAX_HISTORY, ClockEstimator, Exchange
 
 MS = 1_000_000
 S = 1_000_000_000
@@ -347,3 +347,17 @@ def test_reset_clears_newest_exchange_time_until_the_next_exchange() -> None:
     nxt = make_exchange(2 * S, offset=MS)
     estimator.add(nxt)
     assert estimator.mapping(nxt.t4) is not None
+
+
+def test_history_keeps_only_the_newest_mappings_however_many_are_adopted() -> None:
+    estimator = ClockEstimator()
+    total = 300
+    # Each exchange has a shorter round trip than the last, so every one is adopted as a new best mapping.
+    exchanges = [
+        make_exchange(S + i * MS, forward=200_000 - 300 * i, back=200_000 - 300 * i) for i in range(total)
+    ]
+    for exchange in exchanges:
+        assert estimator.add(exchange) is None
+
+    assert len(estimator.history) == _MAX_HISTORY
+    assert [m.accepted_at_ns for m in estimator.history] == [e.t4 for e in exchanges[-_MAX_HISTORY:]]
diff --git a/examples/egocap/tests/backend/test_livekit_recording_source.py b/examples/egocap/tests/backend/test_livekit_recording_source.py
index c388ab620d..04155ea8b4 100644
--- a/examples/egocap/tests/backend/test_livekit_recording_source.py
+++ b/examples/egocap/tests/backend/test_livekit_recording_source.py
@@ -7,6 +7,8 @@
 from __future__ import annotations
 
 import asyncio
+import dataclasses
+import json
 import time
 from collections import defaultdict
 from types import SimpleNamespace
@@ -372,3 +374,108 @@ async def test_cancelling_prepare_during_the_join_does_not_cancel_the_join():
     for _ in range(5):
         await asyncio.sleep(0)
     assert receiver.events == ["start", "stop"]
+
+
+# --- timing_evidence ---------------------------------------------------------------
+
+
+def history_of(count: int) -> list[ClockMapping]:
+    return [
+        ClockMapping(
+            epoch=1 + i // 10, offset_ns=-i, rtt_ns=2_000 + i, uncertainty_ns=1_000 + i, accepted_at_ns=100 * i
+        )
+        for i in range(count)
+    ]
+
+
+def clock_sync_with(history, *, discontinuity=False, rejected=0, current=True):
+    return SimpleNamespace(
+        estimator=SimpleNamespace(history=history),
+        discontinuity=discontinuity,
+        rejected=rejected,
+        mapping=lambda: history[-1] if current else None,
+    )
+
+
+async def prepared_source(streams):
+    source = make_source(streams)
+    await prepare_with_frames(source, streams)
+    return source, FakeReceiver.instances[0]
+
+
+def test_a_source_that_never_prepared_has_no_timing_evidence():
+    assert make_source([livekit_stream(16)]).timing_evidence() is None
+
+
+async def test_without_clock_sync_there_is_no_timing_evidence():
+    streams = [livekit_stream(16)]
+    source, receiver = await prepared_source(streams)
+    receiver.clock_sync = None
+    assert source.timing_evidence() is None
+
+
+async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under():
+    streams = [livekit_stream(16), livekit_stream(17)]
+    source, receiver = await prepared_source(streams)
+    history = history_of(3)
+    receiver.clock_sync = clock_sync_with(history, discontinuity=True, rejected=4, current=False)
+
+    evidence = source.timing_evidence()
+
+    assert evidence == {
+        "clock_mapping": {
+            "method": "four_timestamp_exchange",
+            "local_clock": "pc_monotonic",
+            "remote_clock": "publisher_monotonic",
+            "streams": [{"name": "cam16", "timestamp_basis": "SENSOR_CAPTURE_MONOTONIC_US"}]
+            + [{"name": "cam17", "timestamp_basis": "SENSOR_CAPTURE_MONOTONIC_US"}],
+            "mappings": [
+                {
+                    "epoch": m.epoch,
+                    "offset_ns": m.offset_ns,
+                    "rtt_ns": m.rtt_ns,
+                    "uncertainty_ns": m.uncertainty_ns,
+                    "accepted_at_ns": m.accepted_at_ns,
+                }
+                for m in history
+            ],
+            "discontinuity": True,
+            "exchanges_rejected": 4,
+            "mapping_current_at_stop": False,
+        },
+        "tracking_time": "host_poll",
+    }
+    assert json.loads(json.dumps(evidence)) == evidence
+
+
+async def test_timing_evidence_carries_only_the_newest_mappings():
+    source, receiver = await prepared_source([livekit_stream(16)])
+    history = history_of(lrec._MAX_EVIDENCE_MAPPINGS + 36)
+    receiver.clock_sync = clock_sync_with(history)
+
+    mappings = source.timing_evidence()["clock_mapping"]["mappings"]
+
+    assert [m["accepted_at_ns"] for m in mappings] == [
+        m.accepted_at_ns for m in history[-lrec._MAX_EVIDENCE_MAPPINGS :]
+    ]
+
+
+async def test_an_exchange_reported_again_with_more_uncertainty_is_listed_once_as_first_reported():
+    source, receiver = await prepared_source([livekit_stream(16)])
+    first = ClockMapping(epoch=1, offset_ns=5, rtt_ns=2_000, uncertainty_ns=1_000, accepted_at_ns=100)
+    later_report = dataclasses.replace(first, uncertainty_ns=1_500)
+    newer = ClockMapping(epoch=1, offset_ns=6, rtt_ns=2_000, uncertainty_ns=1_000, accepted_at_ns=200)
+    other_epoch = dataclasses.replace(first, epoch=2, offset_ns=9)
+    receiver.clock_sync = clock_sync_with([first, later_report, newer, other_epoch])
+
+    mappings = source.timing_evidence()["clock_mapping"]["mappings"]
+
+    assert [(m["epoch"], m["accepted_at_ns"], m["uncertainty_ns"]) for m in mappings] == [
+        (1, 100, 1_000),
+        (2, 100, 1_000),
+        (1, 200, 1_000),
+    ] or [(m["epoch"], m["accepted_at_ns"], m["uncertainty_ns"]) for m in mappings] == [
+        (2, 100, 1_000),
+        (1, 100, 1_000),
+        (1, 200, 1_000),
+    ]
diff --git a/examples/egocap/tests/backend/test_recording_session_livekit.py b/examples/egocap/tests/backend/test_recording_session_livekit.py
index 52eb6536ad..d8957e327c 100644
--- a/examples/egocap/tests/backend/test_recording_session_livekit.py
+++ b/examples/egocap/tests/backend/test_recording_session_livekit.py
@@ -13,7 +13,7 @@
 import pytest
 
 from egocap_web.recording_session import CoordinatorBusyError, RecordingSessionCoordinator
-from recording_service import FieldSpec, NumericSourceSpec, RecordingPhase, ServiceConfig
+from recording_service import FieldSpec, NumericSourceSpec, RecordingPhase, RecordingService, ServiceConfig
 
 NUMERIC = NumericSourceSpec("s", (FieldSpec("v", "float64"),))
 
@@ -39,6 +39,9 @@ def start(self, ingress, on_failure) -> None:
     async def stop(self) -> None:
         self.events.append("stop")
 
+    def timing_evidence(self):
+        return None
+
 
 def make_coordinator(tmp_path: Path, source) -> RecordingSessionCoordinator:
     def factory() -> ServiceConfig:
@@ -139,3 +142,55 @@ async def recording_stop():
     await coordinator.stop_episode(episode.episode_id)
     assert events[-2:] == ["stop", "ingress.stop"]
     await coordinator.close()
+
+
+class EvidenceSource(FakeSource):
+    """A source whose timing evidence is read once per take, in the order given (None: no clock sync)."""
+
+    def __init__(self, events: list[str], evidence: list) -> None:
+        super().__init__(events)
+        self.evidence = list(evidence)
+
+    def timing_evidence(self):
+        self.events.append("timing_evidence")
+        return self.evidence.pop(0)
+
+
+def spy_on_service(monkeypatch, events: list[str]) -> list[tuple[str, dict]]:
+    """Record set_episode_timing calls (and their order against stop_episode) on the real service."""
+    calls: list[tuple[str, dict]] = []
+    set_timing, stop = RecordingService.set_episode_timing, RecordingService.stop_episode
+
+    def recording_set_timing(self, episode_id, timing):
+        events.append("set_timing")
+        calls.append((episode_id, timing))
+        return set_timing(self, episode_id, timing)
+
+    async def recording_stop(self, episode_id):
+        events.append("stop_episode")
+        return await stop(self, episode_id)
+
+    monkeypatch.setattr(RecordingService, "set_episode_timing", recording_set_timing)
+    monkeypatch.setattr(RecordingService, "stop_episode", recording_stop)
+    return calls
+
+
+async def test_the_sources_timing_evidence_is_given_to_the_service_once_before_stop_and_not_reused(
+    tmp_path, monkeypatch
+):
+    events: list[str] = []
+    first = {"clock_mapping": {"mappings": [1]}}
+    calls = spy_on_service(monkeypatch, events)
+    coordinator = make_coordinator(tmp_path, EvidenceSource(events, [first, None]))
+    await coordinator.open()
+    coordinator.set_task("t")
+
+    one = await coordinator.start_episode()
+    await coordinator.stop_episode(one.episode_id)
+    assert calls == [(one.episode_id, first)]
+    assert events.index("timing_evidence") < events.index("set_timing") < events.index("stop_episode")
+
+    two = await coordinator.start_episode()
+    await coordinator.stop_episode(two.episode_id)
+    assert calls == [(one.episode_id, first)]  # the second take's source had none; nothing carried over
+    await coordinator.close()
diff --git a/examples/egocap/tests/recording_service/test_episode_timing.py b/examples/egocap/tests/recording_service/test_episode_timing.py
new file mode 100644
index 0000000000..378afe0f50
--- /dev/null
+++ b/examples/egocap/tests/recording_service/test_episode_timing.py
@@ -0,0 +1,111 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Timing evidence attached to a take: written with the kept episode's attributes, validated, in memory only.
+
+Uses a small synthetic take, so no recorded-episode fixture is needed.
+"""
+
+import asyncio
+import json
+
+import numpy as np
+import pytest
+import zarr
+
+from recording_service import (
+    FieldSpec,
+    NumericSample,
+    NumericSourceSpec,
+    PixelFormat,
+    QcConfig,
+    RecordingService,
+    ServiceConfig,
+    StateError,
+    VideoSample,
+    VideoSourceSpec,
+)
+
+ROWS = 5
+TIMING = {
+    "clock_mapping": {"method": "m", "mappings": [{"epoch": 1, "offset_ns": -7}]},
+    "tracking_time": "host_poll",
+}
+
+
+def _config(tmp_path) -> ServiceConfig:
+    return ServiceConfig(
+        output_root=tmp_path / "out",
+        numeric_sources=(NumericSourceSpec("pose", (FieldSpec("v", "float64"),)),),
+        video_sources=(VideoSourceSpec("cam", 64, 48, 30.0),),
+        qc=QcConfig(required_sources=("pose", "cam")),
+    )
+
+
+async def _submit(service: RecordingService, episode_id: str) -> None:
+    frame = np.zeros((48, 64, 3), dtype=np.uint8)
+    for i in range(ROWS):
+        t = 1.0 + i / 30
+        for sample in (
+            NumericSample("pose", t, t, {"v": float(i)}),
+            VideoSample("cam", frame, PixelFormat.RGB8, t, t, np.eye(3)),
+        ):
+            while service.submit_sample(episode_id, sample).status.name == "FULL":
+                await asyncio.sleep(0)
+
+
+async def _take(service: RecordingService, timing):
+    episode = await service.start_episode("t")
+    if timing is not None:
+        service.set_episode_timing(episode.episode_id, timing)
+    await _submit(service, episode.episode_id)
+    result = await service.stop_episode(episode.episode_id)
+    return dict(zarr.open_group(str(result.final_path), mode="r").attrs)
+
+
+async def test_timing_set_before_stop_is_written_to_the_kept_attributes_and_not_to_the_next_take(tmp_path, own):
+    service = own(RecordingService(_config(tmp_path)))
+    await service.open_session()
+    assert (await _take(service, TIMING))["timing"] == TIMING
+    assert "timing" not in await _take(service, None)
+
+
+async def test_a_take_without_timing_has_no_timing_attribute(tmp_path, own):
+    service = own(RecordingService(_config(tmp_path)))
+    await service.open_session()
+    assert "timing" not in await _take(service, None)
+
+
+async def test_timing_for_an_unknown_or_finished_episode_is_refused(tmp_path, own):
+    service = own(RecordingService(_config(tmp_path)))
+    await service.open_session()
+    with pytest.raises(StateError, match="no active episode"):
+        service.set_episode_timing("not-an-episode", TIMING)
+    episode = await service.start_episode("t")
+    await _submit(service, episode.episode_id)
+    await service.stop_episode(episode.episode_id)
+    with pytest.raises(StateError, match="no active episode"):
+        service.set_episode_timing(episode.episode_id, TIMING)
+
+
+async def test_a_value_that_cannot_be_serialized_is_refused_and_nothing_is_stored(tmp_path, own):
+    service = own(RecordingService(_config(tmp_path)))
+    await service.open_session()
+    episode = await service.start_episode("t")
+    with pytest.raises(TypeError):
+        service.set_episode_timing(episode.episode_id, {"bad": object()})
+    await _submit(service, episode.episode_id)
+    result = await service.stop_episode(episode.episode_id)
+    assert "timing" not in dict(zarr.open_group(str(result.final_path), mode="r").attrs)
+
+
+async def test_timing_is_not_in_the_recovery_manifest(tmp_path, own):
+    """It is held in memory only, so a take recovered from its manifest cannot carry it."""
+    service = own(RecordingService(_config(tmp_path)))
+    session = await service.open_session()
+    episode = await service.start_episode("t")
+    service.set_episode_timing(episode.episode_id, TIMING)
+    manifest = (session.session_path / ".recording" / "episode_0.json").read_text()
+    assert "timing" not in json.loads(manifest) and "host_poll" not in manifest
+    await service.discard_episode(episode.episode_id)

From bb4680f82eb3efa36401b884c5ee8c78f8bc2d5d Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:38:40 -0800
Subject: [PATCH 40/54] egocap: end a take when the clock mapping is uncertain
 beyond a budget

EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS (default 5 ms, a policy choice) bounds the
mapping uncertainty a take may be recorded with; the budget is saved in the
take's timing evidence. Docs describe the native capture-time option and the
remaining open items.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md            |  18 +-
 examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md |  29 +--
 .../backend/egocap_web/livekit_recording.py   |  29 +++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 84 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 84 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 152 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31112 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 151 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 30449 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 152 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1609 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1632 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 151 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1655 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 92 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 92 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 154 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31122 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 151 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 30339 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 154 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1582 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1638 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 151 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1690 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 98 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 100 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 160 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 32885 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 160 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 31261 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 160 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1672 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1713 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 160 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1715 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 98 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 100 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 160 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 34753 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 162 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 34612 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 160 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1640 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1729 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 162 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1727 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 67 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 67 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 143 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 29434 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 145 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 29501 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 143 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1492 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1550 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 145 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1574 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 67 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 67 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 150 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31119 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 148 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 30448 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 150 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1593 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1630 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 148 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1642 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 75 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 74 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 151 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31142 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 152 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 30383 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 151 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1577 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1637 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 152 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1655 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 92 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 92 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 146 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 29398 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 146 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 29501 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
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 .../pico_controller/capture_time/c/0          | Bin 0 -> 146 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1514 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
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 .../pico_controller/left_pose/zarr.json       |  44 +++++
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 .../pico_controller/right_pose/zarr.json      |  44 +++++
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 .../.recording/calibration_assets.json        |   7 +
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 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 98 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
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 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 181 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 38949 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 178 bytes
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 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 39841 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
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 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1885 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1935 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
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 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1990 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 75 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
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 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 151 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31134 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 151 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 31135 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 151 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1586 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1631 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
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 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1653 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
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 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 84 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 84 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 151 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31165 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 151 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 31197 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 151 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1567 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1631 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 151 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1683 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 92 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
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 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 154 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31192 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 154 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 31225 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 154 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1585 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1631 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 154 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1648 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 +++++++++++++
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 ++++++++++++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 75 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 75 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 145 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 29438 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 146 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 29440 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++++
 .../pico_controller/b_button/zarr.json        |  37 ++++
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 .../pico_controller/capture_time/zarr.json    |  40 ++++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1507 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++++
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 .../pico_controller/left_pose/zarr.json       |  44 +++++
 .../pico_controller/left_trigger/zarr.json    |  40 ++++
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 .../pico_controller/receive_time/zarr.json    |  40 ++++
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 .../pico_controller/right_pose/zarr.json      |  44 +++++
 .../pico_controller/right_trigger/zarr.json   |  40 ++++
 .../pico_controller/x_button/zarr.json        |  37 ++++
 .../pico_controller/y_button/zarr.json        |  37 ++++
 .../episode_0/pico_controller/zarr.json       |   5 +
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 .../.recording/calibration_assets.json        |   7 +
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 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../tests/backend/test_livekit_recording.py   |  71 ++++++-
 .../backend/test_livekit_recording_source.py  |  11 +-
 .../tests/backend/test_synthetic_timeline.py  |   9 +-
 539 files changed, 15160 insertions(+), 22 deletions(-)
 create mode 100644 examples/egocap/recordings/session_20261105-104104_cdda26/.recording/calibration_assets.json
 create mode 100644 examples/egocap/recordings/session_20261105-104104_cdda26/.recording/episode_0.json
 create mode 100644 examples/egocap/recordings/session_20261105-104104_cdda26/.recording/session.lock
 create mode 100644 examples/egocap/recordings/session_20261105-104104_cdda26/config.yaml
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/.recording/calibration_assets.json
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/.recording/episode_0.json
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/.recording/session.lock
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/config.yaml
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera.mp4
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/receive_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/receive_time/zarr.json
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 create mode 100644 examples/egocap/recordings/session_20261105-105628_f3d7ef/config.yaml
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 create mode 100644 examples/egocap/recordings/session_20261105-133756_901aef/.recording/calibration_assets.json
 create mode 100644 examples/egocap/recordings/session_20261105-133756_901aef/.recording/episode_0.json
 create mode 100644 examples/egocap/recordings/session_20261105-133756_901aef/.recording/session.lock
 create mode 100644 examples/egocap/recordings/session_20261105-133756_901aef/config.yaml

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index 0b7b73278d..fc327e9406 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -25,7 +25,8 @@ PC:   CaptureServer (--livekit-streams: where the streams are) -> egocap backend
 declares `timestamp_basis: capture_monotonic_us`: the publisher stamps each frame with the sensor's capture event on
 the publisher's own monotonic clock. If any offered stream does not qualify, recording is refused with that stream's
 name (remove it from the streams file, or make it recordable); preview is unaffected. The native Orin sender
-declares processing time, so with it recording is refused until the sensor's capture time is mapped.
+declares processing time by default, so with it recording is refused unless it is started with
+`--timestamp-basis=capture_monotonic_us` and the streams file declares that basis.
 
 There is one way to place the publisher's clock on this PC's, the four-timestamp exchange CloudXR uses. The recorder
 joins the room itself (it needs the same `LIVEKIT_API_KEY` and `LIVEKIT_API_SECRET`), and once a second sends the
@@ -38,15 +39,22 @@ smaller is claimed. The best recent exchange is used; a mapping is withheld when
 old; and a new exchange that disagrees with the current mapping by more than the two uncertainties plus a 200 ppm
 drift allowance is a discontinuity. A take cannot start until the publisher has answered at least once, and ends if
 the mapping goes missing, goes stale or jumps; frames already recorded keep the mapping they were made under, and
-the mapping epochs are kept in memory (`ClockEstimator.history`) but not yet saved with the take. The recorder
+the newest mapping epochs, their uncertainties and the budget are saved in the kept episode's `timing` attributes. A
+take also ends when the mapping's uncertainty exceeds the budget, 5 ms by default and set in milliseconds with
+`EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS`; the default is a policy choice, not a measurement. The recorder
 also applies one coarse check: a frame more than 2 s old on arrival, or stamped in the future, ends the take. A take
 that passes is not thereby proven aligned with tracking, which also assumes the backend and CaptureServer share one
 machine's clock. Browser display latency is not shown: it needs the same exchange between the PC and the browser and
 an exact match of the displayed frame to its capture stamp, neither of which exists yet.
 
-**What recording from the real Orin still needs.** The native sender must answer the clock-sync requests with its own
-monotonic clock and publish `capture_monotonic_us`, the sensor's capture event on that clock. Its only capture-event
-clock is the SIPL frame capture counter (`frameCaptureTSC`), which NVIDIA's public SIPL documentation describes as
+**Recording from the real Orin.** The native sender answers the clock-sync requests with its own monotonic clock, and
+with `--timestamp-basis=capture_monotonic_us` publishes the sensor's capture event on that clock. It converts the
+backend's sensor timestamp through one anchor pair (the source clock and `CLOCK_MONOTONIC`, read back to back and
+refreshed once a second, never per frame): SIPL's capture counter as ticks of the ARM generic counter at its
+`CNTFRQ` rate, Argus's sensor timestamp as `CLOCK_MONOTONIC_RAW` nanoseconds. Both units are assumptions, so every
+frame is checked: a capture time later than the frame's ready time, or more than 2 s before it, fails the stream
+rather than being published. None of this has run on an Orin; the first run shows whether the assumed units hold, and
+real alignment still needs the evidence below. The sender's only capture-event clock is the SIPL frame capture counter (`frameCaptureTSC`), which NVIDIA's public SIPL documentation describes as
 raw ARM generic-timer ticks, not nanoseconds (the sender carries it as `capture_tsc`, an unscaled value). The deployed
 Orin's SIPL headers are not available here, so nothing about its units or event is verified. The evidence required,
 from a supported platform API and not from fitting measurements:
diff --git a/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md b/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
index 0a501439d0..504d3f9c23 100644
--- a/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
+++ b/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
@@ -10,13 +10,16 @@ synchronization: no required accuracy budget has been set, and no real-source al
 
 ## Implemented
 
-- **PC clock-map discontinuity check** (`backend/egocap_web/livekit_recording.py`, `UnixClockMap`): keeps the
-  bracket uncertainty of its realtime/monotonic pair and flags an offset change between two measurements larger than
-  the greater of 5 ms and four times that uncertainty. The recording feed then fails the take. This is a heuristic,
-  not proof of a step or an accuracy bound; frames mapped between a step and its detection (up to one refresh, about a
-  second) are already recorded, and smaller offset changes are not caught.
-- LiveKit frames keep the publisher's timestamp, frame id and raw capture counter separately; only a stream declaring a
-  sensor-capture basis is recorded; the native sender declares processing time and carries the counter unscaled.
+- **One clock path.** A four-timestamp exchange between the PC and the publisher (and the browser) maps the
+  publisher's monotonic clock onto the PC's; recording uses only that mapping, ends a take on a missing, stale,
+  jumped or over-budget mapping (`EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS`, default 5 ms, a policy choice), and saves the
+  mapping evidence in the episode's `timing` attributes.
+- **Native sender.** Answers the exchange and, with `--timestamp-basis=capture_monotonic_us`, converts the SIPL
+  counter or Argus sensor timestamp to `CLOCK_MONOTONIC` through a low-rate anchor, failing the stream on any
+  implausible conversion. Written without an Orin: units unverified, not built against the SDKs.
+- **Encoder probe.** `SENSING_ENCODER_TIMESTAMP_PROBE=1` logs returned unit stamps beside the last submitted stamp,
+  so the first Orin run shows whether the driver returns them. The `COPY_TIMESTAMP` control is not set: its header
+  is not present off the Orin.
 
 ## What each source actually stamps (source audit, not hardware-verified)
 
@@ -41,9 +44,9 @@ None of these is a qualified measurement time, so none can support a synchronize
   submission order, which shifts after an encoder-internal drop. Header search found
   `V4L2_CID_MPEG_VIDEOENC_COPY_TIMESTAMP` (undocumented, unused elsewhere); whether it works on the driver is being
   probed on the Orin. Until a verified mechanism exists, the honest options are to stop or flag the stream on loss.
-- **Persisting mapping epochs and quality with a take.** There is no per-take metadata slot: `config.yaml` is
-  frozen per session, and `EpisodeResult.issues` carries failures only. Proposed minimum, needing an owner's
-  decision: write the clock-map evidence (map epoch, offset, bracket uncertainty, step flag, timestamp basis per
-  source) once at stop into the episode's existing record, rather than a new file format.
-- **Orin-to-PC clock bridge**, sensor-time-to-host mapping, glove SDK time correlation, controller measurement
-  semantics, and the accuracy budget.
+- **Tracking device times.** Tracking samples carry host poll time (`tracking_time: host_poll`). Using the Manus
+  SDK `publishTime` or a controller measurement time needs the vendor's documented clock and a schema field for the
+  raw value; a `.fbs` change makes existing recordings unreadable (see `src/core/schema/AGENTS.md`), so it is not
+  done on a guess.
+- **Orin verification** of the counter conversion, the encoder probe and the Argus build, and measured
+  sensor-to-tracking alignment.
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index daa65bcaac..cdd14e18bb 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -22,6 +22,7 @@
 import contextlib
 import ipaddress
 import logging
+import os
 from collections.abc import Callable, Mapping, Sequence
 from typing import Any
 from urllib.parse import urlparse
@@ -47,6 +48,25 @@
 #: Most mappings recorded as a take's timing evidence, the newest ones; the estimator may have adopted more.
 _MAX_EVIDENCE_MAPPINGS = 64
 
+BUDGET_ENV = "EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS"
+# A frame at 30 fps is 33 ms; a mapping uncertain by more than a few ms would blur which camera frame matches a
+# tracking sample. This default is a policy choice, not a measurement; set the environment variable to change it.
+_DEFAULT_BUDGET_MS = 5.0
+
+
+def uncertainty_budget_ns() -> int:
+    """The largest clock-mapping uncertainty a take may be recorded with, from the environment or the default."""
+    raw = os.environ.get(BUDGET_ENV)
+    if raw is None or not raw.strip():
+        return int(_DEFAULT_BUDGET_MS * 1e6)
+    try:
+        ms = float(raw)
+    except ValueError:
+        raise ValueError(f"{BUDGET_ENV} must be a number of milliseconds, got {raw!r}") from None
+    if not ms > 0:
+        raise ValueError(f"{BUDGET_ENV} must be positive, got {raw!r}")
+    return int(ms * 1e6)
+
 
 def is_loopback_url(url: str) -> bool:
     """Whether ``url`` names this machine: ``localhost`` or a loopback IP literal."""
@@ -104,6 +124,7 @@ def __init__(
         source_names: Mapping[int, str],
         *,
         on_failure: Callable[[str], None] | None = None,
+        max_uncertainty_ns: int | None = None,
     ) -> None:
         missing = [s.name for s in streams if s.stream_id not in source_names]
         if missing:
@@ -118,6 +139,7 @@ def __init__(
             raise ValueError("the receiver has no clock-sync client; start it with clock_sync=True")
         self._clock = clock_sync
         self._on_failure = on_failure
+        self._max_uncertainty_ns = uncertainty_budget_ns() if max_uncertainty_ns is None else max_uncertainty_ns
         self._tasks: list[asyncio.Task[None]] = []
         self.failure: str | None = None
         self._baseline: dict[int, tuple[int, int]] = {}
@@ -210,6 +232,12 @@ async def _run(self, stream_id: int) -> None:
                     f"{stream.name}: no current clock mapping from the publisher (its clock-sync replies stopped)"
                 )
                 return
+            if mapping.uncertainty_ns > self._max_uncertainty_ns:
+                self._fail(
+                    f"{stream.name}: the clock mapping is uncertain by {mapping.uncertainty_ns / 1e6:.2f} ms, "
+                    f"over the {self._max_uncertainty_ns / 1e6:.2f} ms budget ({BUDGET_ENV})"
+                )
+                return
             capture_time = mapping.to_local_ns(frame.user_timestamp_us * 1000) / 1e9
             receive_time = frame.receive_time_ns / 1e9
             age = receive_time - capture_time
@@ -407,6 +435,7 @@ def timing_evidence(self) -> dict[str, Any] | None:
                     }
                     for m in mappings
                 ],
+                "uncertainty_budget_ns": uncertainty_budget_ns(),
                 "discontinuity": clock_sync.discontinuity,
                 "exchanges_rejected": clock_sync.rejected,
                 "mapping_current_at_stop": clock_sync.mapping() is not None,
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/episode_0.json
new file mode 100644
index 0000000000..97dedfa092
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-104104_cdda26/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-104104_cdda26",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/session.lock b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/config.yaml b/examples/egocap/recordings/session_20261105-104104_cdda26/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_cdda26/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/episode_0.json
new file mode 100644
index 0000000000..fe6213b43c
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 8,
+      "written": 8
+    },
+    "manus_glove": {
+      "accepted": 19,
+      "written": 19
+    },
+    "pico_controller": {
+      "accepted": 19,
+      "written": 19
+    }
+  },
+  "duration_seconds": 0.2997442810010398,
+  "episode_id": "session_20261105-104104_fba19c/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-104104_fba19c",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "FINALIZED",
+  "studio": null,
+  "task": "Pour water into the cup."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/session.lock b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/config.yaml b/examples/egocap/recordings/session_20261105-104104_fba19c/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..1439780142
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93aea71fadc0129b3ee0fd3514b7412e47fb729f38bb3c6ca147ed8ab5b7564a
+size 5594
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..d6f3710bce07d33af43812becbdbd7e69e03b165
GIT binary patch
literal 84
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hcm1H{OCbH~d8_>^Al<F~D&Y-~W?*Dsd~e^u1OR=1E%*Qc

literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/zarr.json
new file mode 100644
index 0000000000..b1e2193cea
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    8
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..5d94871e77c3d4ed68f6d08829dd4f45fbd3d617
GIT binary patch
literal 84
zcmdPcs{c2EfjyLoL4;+Y*W9a*zCLic7vK2$F_1Q|d;IJPkUnIaBJvDKe=SW?c>$!O
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/receive_time/zarr.json
new file mode 100644
index 0000000000..b1e2193cea
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    8
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/capture_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..56197e93ceaaa4070c21fe0bf3064b97084aff88
GIT binary patch
literal 152
zcmdPcs{c2EfxVQ4A%uNf*aYQAUmrN!dY80T@zq7+$3XT<)4xaZU$Hqp0kYrRb~)X6
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w|5bSfWJg3kUAC$Bx&CV)+hT>_ZU!!fl*e%lehI=iSag`Z8&ZLcEn8I>0gic3LjV8(

literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/capture_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/left_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/left_hand_pose/c/0/0/0/0
new file mode 100644
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HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..ea4b81d5a567df64a5bed77cc46d6f522c485dd2
GIT binary patch
literal 151
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
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+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..be503e5660572b3a98d97620ec67bbcddefb7c4c
GIT binary patch
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/c/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+      ]
+    }
+  },
+  "chunk_key_encoding": {
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+    "configuration": {
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+  "fill_value": 0.0,
+  "codecs": [
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+}
\ No newline at end of file
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new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+    4,
+    4
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  "fill_value": 0.0,
+  "codecs": [
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+    {
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+  "attributes": {},
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+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..cd1e50f75eda372c92fc0404af8674622eb7fc76
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
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+  },
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+  "attributes": {},
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+}
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
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+  "shape": [
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+  "data_type": "float64",
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/receive_time/c/0
new file mode 100644
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
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+    "configuration": {
+      "separator": "/"
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+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+    },
+    {
+      "name": "zstd",
+      "configuration": {
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+        "checksum": false
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+  },
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+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+    19
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+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
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+    {
+      "name": "zstd",
+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
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+  ],
+  "data_type": "bool",
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+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+  "fill_value": false,
+  "codecs": [
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+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
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+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/zarr.json
new file mode 100644
index 0000000000..ee45057e94
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-104104_fba19c/episode_0",
+    "session_id": "session_20261105-104104_fba19c",
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+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
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+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 8,
+    "episode_duration": 0.2997442810010398,
+    "recorded_at": "2026-11-05; 10-41-05",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
+    "domain_checks": "SKIPPED",
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+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+            ]
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+            "dtype": "float64",
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+              4
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+          {
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+            "shape": []
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+            "dtype": "bool",
+            "shape": []
+          },
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+            "dtype": "bool",
+            "shape": []
+          },
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+            "shape": [
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+              4,
+              4
+            ]
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+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
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+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
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+    "calibration_assets": {}
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+}
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diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
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+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
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diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/episode_0.json
new file mode 100644
index 0000000000..f606dbf089
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/episode_0.json
@@ -0,0 +1,119 @@
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+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-105628_f3d7ef/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+  "pending_path": "episode_0.pending",
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+  "quality": null,
+  "schema_version": 3,
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+            4
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+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
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+      "kind": "numeric",
+      "name": "pico_controller"
+    },
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+      "name": "manus_glove"
+    },
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+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
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+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/session.lock b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/config.yaml b/examples/egocap/recordings/session_20261105-105628_f3d7ef/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105628_f3d7ef/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
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+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/episode_0.json
new file mode 100644
index 0000000000..9e3b1a9da6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 9,
+      "written": 9
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+    "manus_glove": {
+      "accepted": 19,
+      "written": 19
+    },
+    "pico_controller": {
+      "accepted": 19,
+      "written": 19
+    }
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+  "episode_id": "session_20261105-105629_4348bd/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
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+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
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+        "issues": [],
+        "measurements": {},
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+        "outcome": "PASSED"
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+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
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+  "session_id": "session_20261105-105629_4348bd",
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/session.lock b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/session.lock
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/config.yaml b/examples/egocap/recordings/session_20261105-105629_4348bd/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/config.yaml
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera.mp4
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/zarr.json
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+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/left_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/left_hand_pose/c/0/0/0/0
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..8d6b14e2a74319b21ee02865d2c57b51782e882d
GIT binary patch
literal 151
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+      "configuration": {
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+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
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+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
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+      "configuration": {
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+        "checksum": false
+      }
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+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
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+    "configuration": {
+      "chunk_shape": [
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+    }
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+  "chunk_key_encoding": {
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+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
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+      "configuration": {
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+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..6033da751095d811a2b436a6539124ceef26f0cc
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
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+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/zarr.json
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+}
\ No newline at end of file
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+    4
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+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
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+  "fill_value": 0.0,
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+  ],
+  "attributes": {},
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/c/0/0/0
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index 0000000000000000000000000000000000000000..4adb95c21db53a588d0366f2f9f812f55df27c92
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+        4
+      ]
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+    "configuration": {
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+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
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+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
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+  "shape": [
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+  "data_type": "float64",
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+    "configuration": {
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+    }
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+  "codecs": [
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+      "configuration": {
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+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/c/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
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+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  "fill_value": 0.0,
+  "codecs": [
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+      "name": "bytes",
+      "configuration": {
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+    {
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+      "configuration": {
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+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
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+    "name": "regular",
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+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
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+      "configuration": {
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+    {
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+      "configuration": {
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+        "checksum": false
+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
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+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
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+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/zarr.json
new file mode 100644
index 0000000000..b2754b2804
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-105629_4348bd/episode_0",
+    "session_id": "session_20261105-105629_4348bd",
+    "video_encoder_options": {
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+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
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+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
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+    "episode_duration": 0.30130017399642384,
+    "recorded_at": "2026-11-05; 10-56-29",
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+    "integrity_check_issues": [],
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+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
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+            ]
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+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
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+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
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+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
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+              4,
+              4
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+            "name": "right_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
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+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/episode_0.json
new file mode 100644
index 0000000000..043bddcc1e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-105807_51b17e/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-105807_51b17e",
+  "sources": [
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+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
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+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
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+            4,
+            4
+          ]
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+      "name": "manus_glove"
+    },
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+      "encoder_options": null,
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+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
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+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/session.lock b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/config.yaml b/examples/egocap/recordings/session_20261105-105807_51b17e/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105807_51b17e/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/episode_0.json
new file mode 100644
index 0000000000..e51640db61
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
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+      "written": 10
+    },
+    "manus_glove": {
+      "accepted": 20,
+      "written": 20
+    },
+    "pico_controller": {
+      "accepted": 20,
+      "written": 20
+    }
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+  "episode_id": "session_20261105-105808_e6f00b/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-105808_e6f00b",
+  "sources": [
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+      "fields": [
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+          "dtype": "float64",
+          "name": "head_pose",
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+          "shape": [
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+          "name": "right_pose",
+          "shape": [
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+            4
+          ]
+        },
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+          "name": "left_trigger",
+          "shape": []
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+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
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+          "name": "b_button",
+          "shape": []
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+        {
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+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
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+      "kind": "numeric",
+      "name": "pico_controller"
+    },
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+      "kind": "numeric",
+      "name": "manus_glove"
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+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "FINALIZED",
+  "studio": null,
+  "task": "Pour water into the cup."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/session.lock b/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/session.lock
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/config.yaml b/examples/egocap/recordings/session_20261105-105808_e6f00b/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..75cac179fe
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/receive_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/capture_time/c/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..981ed6b56d57d3dcd30f19cca4904dc8f897c059
GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/capture_time/zarr.json
new file mode 100644
index 0000000000..01eed0783d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
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+    "configuration": {
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+  },
+  "chunk_key_encoding": {
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+    "configuration": {
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+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+    {
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+      "configuration": {
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+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/left_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/left_hand_pose/c/0/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9136b37345
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    20,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..902687286c6b9654cd14fb6c6cbf210f2d026e80
GIT binary patch
literal 160
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..01eed0783d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..0d55606237e6e56e3a607cd3ae131be040cb3443
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9136b37345
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    20,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
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+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/capture_time/c/0
new file mode 100644
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
index 0000000000..01eed0783d
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+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
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+  "attributes": {},
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+  "node_type": "array",
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+}
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..7ee1738c27
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
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+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
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+    "configuration": {
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+    }
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+  "fill_value": 0.0,
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+      "configuration": {
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+        "checksum": false
+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..edca2179a46030253d4182fc71195f05b74830f8
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..7ee1738c27
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    20,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..01eed0783d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+    }
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+  "chunk_key_encoding": {
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+    "configuration": {
+      "separator": "/"
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+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..902687286c6b9654cd14fb6c6cbf210f2d026e80
GIT binary patch
literal 160
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
index 0000000000..01eed0783d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    20
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
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new file mode 100644
index 0000000000..7ee1738c27
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
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+        "checksum": false
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+  "attributes": {},
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+}
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..01eed0783d
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+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
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+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
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+    }
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+    "configuration": {
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+}
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/zarr.json
new file mode 100644
index 0000000000..27e9959c5a
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-105808_e6f00b/episode_0",
+    "session_id": "session_20261105-105808_e6f00b",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 10,
+    "episode_duration": 0.3169957659993088,
+    "recorded_at": "2026-11-05; 10-58-09",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
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+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+      {
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+            "dtype": "float64",
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+            ]
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+            ]
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+            "dtype": "float64",
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+            "dtype": "float64",
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+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
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+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
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+          },
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+          },
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+          }
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+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
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+    "calibration_assets": {}
+  },
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+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
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+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/episode_0.json
new file mode 100644
index 0000000000..0683fbfd89
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/episode_0.json
@@ -0,0 +1,119 @@
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+  "capture_policy": null,
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+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+  "schema_version": 3,
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+  "sources": [
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+        {
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+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
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+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
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+      "name": "pico_controller"
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+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/session.lock b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/config.yaml b/examples/egocap/recordings/session_20261105-105917_cec552/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105917_cec552/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105918_996b66/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
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+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105918_996b66/.recording/episode_0.json
new file mode 100644
index 0000000000..b455780160
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/.recording/episode_0.json
@@ -0,0 +1,180 @@
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+        "issues": [],
+        "measurements": {},
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+        "outcome": "PASSED"
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+        "issues": [],
+        "measurements": {},
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+        "issues": [],
+        "measurements": {},
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+      },
+      {
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+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
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+      {
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+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
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+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
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+    "issues": [],
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new file mode 100644
index 0000000000..108ee6fe71
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera.mp4
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9136b37345
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    20,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..f96774272aa81c3a05f002b7621ab4186087fabe
GIT binary patch
literal 162
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..01eed0783d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
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+    {
+      "name": "zstd",
+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9136b37345
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    20,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    20
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/capture_time/c/0
new file mode 100644
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GIT binary patch
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/capture_time/zarr.json
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+  "shape": [
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..7ee1738c27
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
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+      ]
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+    "configuration": {
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+  "attributes": {},
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..7ee1738c27
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    20,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..01eed0783d
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..7ee1738c27
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+    20,
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+    4
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+        256,
+        4,
+        4
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+  "chunk_key_encoding": {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..01eed0783d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    20
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+  "data_type": "float64",
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+  "data_type": "bool",
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+    "configuration": {
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+    "name": "default",
+    "configuration": {
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+        "checksum": false
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+}
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..681c9fa756
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+        "checksum": false
+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/zarr.json
new file mode 100644
index 0000000000..b7a47c7629
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-105918_996b66/episode_0",
+    "session_id": "session_20261105-105918_996b66",
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+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
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+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
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+    "episode_duration": 0.3168816039978992,
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+    "capture_qc_results": [],
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+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+              4
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+          {
+            "name": "right_pose",
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+              4
+            ]
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+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
+      {
+        "kind": "numeric",
+        "name": "manus_glove",
+        "fields": [
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+            "dtype": "float64",
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+              4
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+        ]
+      },
+      {
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+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/episode_0.json
new file mode 100644
index 0000000000..a2bafa50a3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+  "schema_version": 3,
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+            4
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+        {
+          "dtype": "float64",
+          "name": "right_pose",
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+            4
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+        {
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+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
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+        },
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+          "dtype": "bool",
+          "name": "a_button",
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+        },
+        {
+          "dtype": "bool",
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+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
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+        }
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+      "kind": "numeric",
+      "name": "pico_controller"
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+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
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diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/session.lock b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/session.lock
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/config.yaml b/examples/egocap/recordings/session_20261105-110043_293c26/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110043_293c26/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/episode_0.json
new file mode 100644
index 0000000000..6622e85fef
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/episode_0.json
@@ -0,0 +1,180 @@
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+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
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+      "written": 6
+    },
+    "manus_glove": {
+      "accepted": 18,
+      "written": 18
+    },
+    "pico_controller": {
+      "accepted": 18,
+      "written": 18
+    }
+  },
+  "duration_seconds": 0.28324937100114767,
+  "episode_id": "session_20261105-110044_dcb9a9/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-110044_dcb9a9",
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+        }
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+      "name": "pico_controller"
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+      "name": "manus_glove"
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+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "FINALIZED",
+  "studio": null,
+  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/session.lock b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/session.lock
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/config.yaml b/examples/egocap/recordings/session_20261105-110044_dcb9a9/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/config.yaml
@@ -0,0 +1,2 @@
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+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera.mp4
new file mode 100644
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--- /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..d83bd6edc3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    18,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..cd4ab5c403b947bdd49dbc98abcd10e94db6a0df
GIT binary patch
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+      "configuration": {
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+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
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HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..d83bd6edc3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    18,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/capture_time/c/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..665831621f9d2b351a952a8246bc1b50511c8acc
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
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+  },
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+  "attributes": {},
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..6507329dc69d6d38e3c938bd16c00423f27bbd4c
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
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+  "shape": [
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+  "attributes": {},
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+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/receive_time/c/0
new file mode 100644
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/receive_time/zarr.json
@@ -0,0 +1,40 @@
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..53ee6ac8c80d46dfed47d37b3173ce2230bd4adc
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    18,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/zarr.json
new file mode 100644
index 0000000000..3e849af4f3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-110044_dcb9a9/episode_0",
+    "session_id": "session_20261105-110044_dcb9a9",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 6,
+    "episode_duration": 0.28324937100114767,
+    "recorded_at": "2026-11-05; 11-00-44",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
+    "domain_checks": "SKIPPED",
+    "capture_qc_decision": "SKIPPED",
+    "capture_qc_issues": [],
+    "capture_qc_warnings": [],
+    "capture_qc_results": [],
+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
+        "kind": "numeric",
+        "name": "pico_controller",
+        "fields": [
+          {
+            "name": "head_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
+      {
+        "kind": "numeric",
+        "name": "manus_glove",
+        "fields": [
+          {
+            "name": "left_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/episode_0.json
new file mode 100644
index 0000000000..8c2d2be323
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-110147_b5e53b/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-110147_b5e53b",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/session.lock b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/config.yaml b/examples/egocap/recordings/session_20261105-110147_b5e53b/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110147_b5e53b/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110148_147979/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110148_147979/.recording/episode_0.json
new file mode 100644
index 0000000000..1e6a11433c
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 6,
+      "written": 6
+    },
+    "manus_glove": {
+      "accepted": 19,
+      "written": 19
+    },
+    "pico_controller": {
+      "accepted": 19,
+      "written": 19
+    }
+  },
+  "duration_seconds": 0.29897530700691277,
+  "episode_id": "session_20261105-110148_147979/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-110148_147979",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/.recording/session.lock b/examples/egocap/recordings/session_20261105-110148_147979/.recording/session.lock
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new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/config.yaml
@@ -0,0 +1,2 @@
+meta:
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..d1bbded6316c70108ad8d52df1ba944b9dbf4e35
GIT binary patch
literal 148
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
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+      "configuration": {
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+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..78f10653f3185fee9ad68af85486da368c5108a8
GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+}
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/capture_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
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+        4
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+    "configuration": {
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..437b8c44264c5258c48a132e372554b61675d89e
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
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+  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/receive_time/c/0
new file mode 100644
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/zarr.json
new file mode 100644
index 0000000000..c5b7c0d31b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-110148_147979/episode_0",
+    "session_id": "session_20261105-110148_147979",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 6,
+    "episode_duration": 0.29897530700691277,
+    "recorded_at": "2026-11-05; 11-01-49",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
+    "domain_checks": "SKIPPED",
+    "capture_qc_decision": "SKIPPED",
+    "capture_qc_issues": [],
+    "capture_qc_warnings": [],
+    "capture_qc_results": [],
+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
+        "kind": "numeric",
+        "name": "pico_controller",
+        "fields": [
+          {
+            "name": "head_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
+      {
+        "kind": "numeric",
+        "name": "manus_glove",
+        "fields": [
+          {
+            "name": "left_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/episode_0.json
new file mode 100644
index 0000000000..5a9b80d5a8
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-110408_0a5805/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-110408_0a5805",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/session.lock b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/config.yaml b/examples/egocap/recordings/session_20261105-110408_0a5805/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_0a5805/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/episode_0.json
new file mode 100644
index 0000000000..9813cd2e82
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 7,
+      "written": 7
+    },
+    "manus_glove": {
+      "accepted": 19,
+      "written": 19
+    },
+    "pico_controller": {
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+      "written": 19
+    }
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+  "duration_seconds": 0.2990176439998322,
+  "episode_id": "session_20261105-110408_a238ed/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-110408_a238ed",
+  "sources": [
+    {
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+        {
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+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
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+            4
+          ]
+        },
+        {
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+          "name": "right_pose",
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+            4
+          ]
+        },
+        {
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+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/session.lock b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/session.lock
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new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..6738ff7219
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/receive_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/zarr.json
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..ae1f5f2cebdb86728cb3ef787900f603e821ff79
GIT binary patch
literal 152
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
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+      "configuration": {
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+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..e33697c4c11bd0b4fcef939f155137caca7f9a81
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
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+    {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..8a6a5f30dab8885688a63d8a4de2d8df4e8b8499
GIT binary patch
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
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+    "configuration": {
+      "chunk_shape": [
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+    }
+  },
+  "chunk_key_encoding": {
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+    "configuration": {
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+  "fill_value": 0.0,
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+      "configuration": {
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..44ef47236169fa77b029e128ff147917216e2546
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
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+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
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+  ],
+  "attributes": {},
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+  "node_type": "array",
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..621d8df99bbea275c1a860ce8c1c2e4125ee9ee5
GIT binary patch
literal 1637
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "name": "bytes",
+      "configuration": {
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+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..ae1f5f2cebdb86728cb3ef787900f603e821ff79
GIT binary patch
literal 152
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
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+    }
+  },
+  "chunk_key_encoding": {
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+    "configuration": {
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+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+    {
+      "name": "zstd",
+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..c42bfd73689a5a527311110d4c1208e758ba458d
GIT binary patch
literal 1655
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/zarr.json
new file mode 100644
index 0000000000..14fc4cf5be
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-110408_a238ed/episode_0",
+    "session_id": "session_20261105-110408_a238ed",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 7,
+    "episode_duration": 0.2990176439998322,
+    "recorded_at": "2026-11-05; 11-04-09",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
+    "domain_checks": "SKIPPED",
+    "capture_qc_decision": "SKIPPED",
+    "capture_qc_issues": [],
+    "capture_qc_warnings": [],
+    "capture_qc_results": [],
+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
+        "kind": "numeric",
+        "name": "pico_controller",
+        "fields": [
+          {
+            "name": "head_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
+      {
+        "kind": "numeric",
+        "name": "manus_glove",
+        "fields": [
+          {
+            "name": "left_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/episode_0.json
new file mode 100644
index 0000000000..3b6989373b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-132134_8f2945/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-132134_8f2945",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/session.lock b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/config.yaml b/examples/egocap/recordings/session_20261105-132134_8f2945/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_8f2945/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/episode_0.json
new file mode 100644
index 0000000000..1796993340
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 9,
+      "written": 9
+    },
+    "manus_glove": {
+      "accepted": 18,
+      "written": 18
+    },
+    "pico_controller": {
+      "accepted": 18,
+      "written": 18
+    }
+  },
+  "duration_seconds": 0.2835940190052497,
+  "episode_id": "session_20261105-132134_ab10d5/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-132134_ab10d5",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
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new file mode 100644
index 0000000000..108ee6fe71
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@@ -0,0 +1,2 @@
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..2f25808c3c
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera/zarr.json
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..d83bd6edc3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    18,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..af5a6a9f00a49c75ddcdc81b6e94fdb415eb3891
GIT binary patch
literal 146
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
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+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..dfad2e54ca3376d879e259992c4d13fb96322b58
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..d83bd6edc3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    18,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..66df9fe9a74241d9a0fc235245665f836e4e6dec
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    18,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+        "checksum": false
+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..4e033bb4fd8f9568bf4a17d546706c8cac38d792
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    18,
+    4,
+    4
+  ],
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+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  "codecs": [
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+      "configuration": {
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+        "checksum": false
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+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..af5a6a9f00a49c75ddcdc81b6e94fdb415eb3891
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/zarr.json
@@ -0,0 +1,40 @@
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+  "shape": [
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+    "configuration": {
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+  "chunk_key_encoding": {
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+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..e27f9fc30d733c1f9a39b7a49aab3fa88c661c5c
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    18,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
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+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
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+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+    "configuration": {
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+        256
+      ]
+    }
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+    "configuration": {
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+      "configuration": {
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+        "checksum": false
+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
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+    {
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+        "level": 0,
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+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/zarr.json
new file mode 100644
index 0000000000..7b95a1505c
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-132134_ab10d5/episode_0",
+    "session_id": "session_20261105-132134_ab10d5",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
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+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 9,
+    "episode_duration": 0.2835940190052497,
+    "recorded_at": "2026-11-05; 13-21-35",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
+    "domain_checks": "SKIPPED",
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+    "capture_qc_warnings": [],
+    "capture_qc_results": [],
+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
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+        "name": "pico_controller",
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+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
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+        "name": "manus_glove",
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+            "dtype": "float64",
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+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/episode_0.json
new file mode 100644
index 0000000000..5517d97fec
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-132833_2b4981/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-132833_2b4981",
+  "sources": [
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+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
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+            25,
+            4,
+            4
+          ]
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+          "name": "right_hand_pose",
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+            4,
+            4
+          ]
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+      ],
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+      "name": "manus_glove"
+    },
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+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/session.lock b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/config.yaml b/examples/egocap/recordings/session_20261105-132833_2b4981/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_2b4981/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/episode_0.json
new file mode 100644
index 0000000000..c8a706d9c5
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 10,
+      "written": 10
+    },
+    "manus_glove": {
+      "accepted": 23,
+      "written": 23
+    },
+    "pico_controller": {
+      "accepted": 23,
+      "written": 23
+    }
+  },
+  "duration_seconds": 0.3667514819971984,
+  "episode_id": "session_20261105-132833_a079f3/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-132833_a079f3",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
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+          ]
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+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
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+      "kind": "numeric",
+      "name": "manus_glove"
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+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "FINALIZED",
+  "studio": null,
+  "task": "Pour water into the cup."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/session.lock b/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/session.lock
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/config.yaml b/examples/egocap/recordings/session_20261105-132833_a079f3/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..0f5789a14f
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/capture_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/receive_time/zarr.json
new file mode 100644
index 0000000000..e60323c1da
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+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/receive_time/zarr.json
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+      "configuration": {
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+        "checksum": false
+      }
+    }
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+  "attributes": {},
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/head_human_camera/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/capture_time/c/0 b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..c0515d8a9e6c99795ab47b5e23d7fab65d24c8e8
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/capture_time/zarr.json
new file mode 100644
index 0000000000..601d628613
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
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+    "configuration": {
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+  "chunk_key_encoding": {
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+    "configuration": {
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+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..386c4d3aef
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    23,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
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+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..0a7d40b8915e999769d35439731cefb29da10dba
GIT binary patch
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..601d628613
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+  "attributes": {},
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..386c4d3aef
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    23,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
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+}
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
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+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..a293cf233d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+    23
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+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+}
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..a293cf233d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
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+  "data_type": "bool",
+  "chunk_grid": {
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+    "configuration": {
+      "chunk_shape": [
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+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+  "fill_value": false,
+  "codecs": [
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+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/capture_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..7619923453
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
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+}
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..7619923453
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    23,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  "fill_value": 0.0,
+  "codecs": [
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+      }
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+  "attributes": {},
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+}
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..601d628613
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
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+  "data_type": "float64",
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+    "name": "regular",
+    "configuration": {
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+    "configuration": {
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+  "attributes": {},
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+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..0a7d40b8915e999769d35439731cefb29da10dba
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..7619923453
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..601d628613
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+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/x_button/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..a293cf233d
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+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/y_button/zarr.json
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+}
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
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+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/zarr.json
new file mode 100644
index 0000000000..3877496d0a
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-132833_a079f3/episode_0",
+    "session_id": "session_20261105-132833_a079f3",
+    "video_encoder_options": {
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+        "preset": "medium",
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+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132909_314040/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
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+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132909_314040/.recording/episode_0.json
new file mode 100644
index 0000000000..2f9b9ed060
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/.recording/episode_0.json
@@ -0,0 +1,180 @@
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+      "written": 7
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+      "written": 19
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+        "outcome": "PASSED"
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+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
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+        "measurements": {},
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+        "measurements": {},
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+        "measurements": {},
+        "name": "numeric_values_finite",
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+        "measurements": {},
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/.recording/session.lock b/examples/egocap/recordings/session_20261105-132909_314040/.recording/session.lock
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new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..6738ff7219
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera.mp4
@@ -0,0 +1,3 @@
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/receive_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/zarr.json
new file mode 100644
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..b426da42b850f64cb2bd5e8321ed05e9a81ea407
GIT binary patch
literal 151
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
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+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..00b917e39d91038369861f82724a819b3a208ad8
GIT binary patch
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HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
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+        4,
+        4
+      ]
+    }
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+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
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+  "fill_value": 0.0,
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+      "configuration": {
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+        "checksum": false
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+  "attributes": {},
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+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+    }
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+  "chunk_key_encoding": {
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+    }
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+  "attributes": {},
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+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
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+    "configuration": {
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+    }
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+  "chunk_key_encoding": {
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+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/capture_time/c/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/head_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..50503c7518b09d2c3fbec14047afd6ed930e72f3
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..b426da42b850f64cb2bd5e8321ed05e9a81ea407
GIT binary patch
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+        4
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+    "configuration": {
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+      "configuration": {
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+        "checksum": false
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+  "attributes": {},
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+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
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+      "configuration": {
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+        "checksum": false
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
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+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+    },
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+      "configuration": {
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+        "checksum": false
+      }
+    }
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+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
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+    "configuration": {
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+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/zarr.json
new file mode 100644
index 0000000000..a2734b3f2f
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-132909_314040/episode_0",
+    "session_id": "session_20261105-132909_314040",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 7,
+    "episode_duration": 0.30040871600067476,
+    "recorded_at": "2026-11-05; 13-29-10",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
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+    "capture_qc_results": [],
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+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
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+        "name": "pico_controller",
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+            "name": "head_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
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+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
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+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
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+          {
+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
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+          },
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+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
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+        "name": "manus_glove",
+        "fields": [
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+            "dtype": "float64",
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+              4,
+              4
+            ]
+          },
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+            "dtype": "float64",
+            "shape": [
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+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/episode_0.json
new file mode 100644
index 0000000000..6d9804fea1
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-132909_c991b8/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-132909_c991b8",
+  "sources": [
+    {
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+          "dtype": "float64",
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+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
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+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/session.lock b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/config.yaml b/examples/egocap/recordings/session_20261105-132909_c991b8/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-132909_c991b8/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133027_137e72/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133027_137e72/.recording/episode_0.json
new file mode 100644
index 0000000000..d44800ff50
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
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new file mode 100644
index 0000000000..108ee6fe71
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera.mp4
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..733affb5250825a7e7defdf1ac76045341fe0fdd
GIT binary patch
literal 151
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..2507432554ef0fa157ef056c940d7d41cfcf8a67
GIT binary patch
literal 31197
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
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+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
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+    },
+    {
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+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
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+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+    }
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+  "fill_value": false,
+  "codecs": [
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/capture_time/c/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/capture_time/zarr.json
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+{
+  "shape": [
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+}
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
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+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_trigger/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+    4
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+  "chunk_key_encoding": {
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+    "configuration": {
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+      "configuration": {
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+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
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+  "data_type": "float64",
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+    "name": "regular",
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+      "configuration": {
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+        "checksum": false
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+  ],
+  "attributes": {},
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+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
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+    "name": "regular",
+    "configuration": {
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+  "chunk_key_encoding": {
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+  "attributes": {},
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
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+  "chunk_key_encoding": {
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+        "checksum": false
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+  "attributes": {},
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+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/zarr.json
new file mode 100644
index 0000000000..d7c7ae4dc7
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-133027_137e72/episode_0",
+    "session_id": "session_20261105-133027_137e72",
+    "video_encoder_options": {
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+        "crf": 12,
+        "preset": "medium",
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+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
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+    "episode_duration": 0.30062932500004536,
+    "recorded_at": "2026-11-05; 13-30-28",
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+    "capture_qc_results": [],
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+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+        "kind": "numeric",
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+            "dtype": "float64",
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+            ]
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+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
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+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
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+              4
+            ]
+          },
+          {
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+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
+      {
+        "kind": "numeric",
+        "name": "manus_glove",
+        "fields": [
+          {
+            "name": "left_hand_pose",
+            "dtype": "float64",
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+              4,
+              4
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+          {
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+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/episode_0.json
new file mode 100644
index 0000000000..7aa58d2725
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+  "episode_id": "session_20261105-133027_bd644d/episode_0",
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+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-133027_bd644d",
+  "sources": [
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+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/session.lock b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/config.yaml b/examples/egocap/recordings/session_20261105-133027_bd644d/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133027_bd644d/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/episode_0.json
new file mode 100644
index 0000000000..25e09a03f6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/episode_0.json
@@ -0,0 +1,119 @@
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+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-133711_adc7b3/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-133711_adc7b3",
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+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
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+        {
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+          ]
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+      "name": "manus_glove"
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+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
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+      "kind": "video",
+      "name": "head_human_camera",
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+    }
+  ],
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+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/session.lock b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/config.yaml b/examples/egocap/recordings/session_20261105-133711_adc7b3/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133711_adc7b3/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/episode_0.json
new file mode 100644
index 0000000000..7ff4ec214d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 9,
+      "written": 9
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+      "written": 19
+    },
+    "pico_controller": {
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+      "written": 19
+    }
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+  "episode_id": "session_20261105-133712_9e71b2/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-133712_9e71b2",
+  "sources": [
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+          "name": "head_pose",
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+        },
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+        }
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+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
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+  "storage_phase": "FINALIZED",
+  "studio": null,
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/session.lock b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/session.lock
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/config.yaml b/examples/egocap/recordings/session_20261105-133712_9e71b2/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/config.yaml
@@ -0,0 +1,2 @@
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..7307a8fb95
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/capture_time/zarr.json
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..c575acd9ef4e234ab1a7acfdd3ad744309d8eaf0
GIT binary patch
literal 154
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
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+      "configuration": {
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+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..d71664e7d63eca457e19717e5a70f42adfee5f81
GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..ef169760f590e906df032cfef71fc64bfba8cda7
GIT binary patch
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+    {
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+  ],
+  "attributes": {},
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+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..6407aac578d6805db025b4501b6d373a5b6e5649
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+      "configuration": {
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+        "checksum": false
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
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+      ]
+    }
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+  "chunk_key_encoding": {
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+      "configuration": {
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+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..c575acd9ef4e234ab1a7acfdd3ad744309d8eaf0
GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
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+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
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+    }
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+  "chunk_key_encoding": {
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+    "configuration": {
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+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..6eef559b26fe29b6260346e89a609cef4ea8ab2b
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "name": "bytes",
+      "configuration": {
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+    {
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+      "configuration": {
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
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+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
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+        "checksum": false
+      }
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+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
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+}
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
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+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/zarr.json
new file mode 100644
index 0000000000..77bac6acce
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-133712_9e71b2/episode_0",
+    "session_id": "session_20261105-133712_9e71b2",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 9,
+    "episode_duration": 0.2990439159984817,
+    "recorded_at": "2026-11-05; 13-37-13",
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+    "capture_qc_warnings": [],
+    "capture_qc_results": [],
+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
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+            "dtype": "float64",
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+              4
+            ]
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+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
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+              4
+            ]
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+            "dtype": "float64",
+            "shape": []
+          },
+          {
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+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
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+              4
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+            "name": "right_hand_pose",
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+            "shape": [
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+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
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+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
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+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/episode_0.json
new file mode 100644
index 0000000000..9b6f15545d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/episode_0.json
@@ -0,0 +1,180 @@
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+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
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+      "written": 7
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+    "manus_glove": {
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+      "written": 18
+    },
+    "pico_controller": {
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+      "written": 18
+    }
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+  "episode_id": "session_20261105-133756_40d845/episode_0",
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+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
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+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
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+          "shape": []
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+          "name": "b_button",
+          "shape": []
+        },
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+          "name": "x_button",
+          "shape": []
+        },
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+        }
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+      "name": "pico_controller"
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+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
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+    }
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+  "storage_phase": "FINALIZED",
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+  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/session.lock b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/session.lock
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/config.yaml b/examples/egocap/recordings/session_20261105-133756_40d845/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/config.yaml
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..6738ff7219
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera/zarr.json
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..d83bd6edc3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    18,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..abf743ec88bf25ebc35cfe348fdb3645b6688a0d
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
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+    "configuration": {
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+  "chunk_key_encoding": {
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+    "configuration": {
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+  "fill_value": 0.0,
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+      "configuration": {
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+  "attributes": {},
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+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..d83bd6edc3
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    18,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
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+    },
+    {
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+      "configuration": {
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+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
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+  "fill_value": false,
+  "codecs": [
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+        "checksum": false
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+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/capture_time/c/0
new file mode 100644
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
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+    }
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/head_pose/c/0/0/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..dfcbca931063d85beb30aec5a9d51e6a949ddc8b
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    18,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
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+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+    {
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+      "configuration": {
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+        "checksum": false
+      }
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+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
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+  ],
+  "data_type": "float64",
+  "chunk_grid": {
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+    "configuration": {
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+    "configuration": {
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+  "attributes": {},
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..d771b6370e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    18,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..f0e1f4a377
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
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+  "chunk_key_encoding": {
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+    "configuration": {
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+  "fill_value": 0.0,
+  "codecs": [
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+      "configuration": {
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+      }
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+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..17eda0f09b
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    18
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/zarr.json
new file mode 100644
index 0000000000..9e2b515691
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-133756_40d845/episode_0",
+    "session_id": "session_20261105-133756_40d845",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 7,
+    "episode_duration": 0.28219503000582336,
+    "recorded_at": "2026-11-05; 13-37-57",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
+    "domain_checks": "SKIPPED",
+    "capture_qc_decision": "SKIPPED",
+    "capture_qc_issues": [],
+    "capture_qc_warnings": [],
+    "capture_qc_results": [],
+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
+        "kind": "numeric",
+        "name": "pico_controller",
+        "fields": [
+          {
+            "name": "head_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
+      {
+        "kind": "numeric",
+        "name": "manus_glove",
+        "fields": [
+          {
+            "name": "left_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/episode_0.json
new file mode 100644
index 0000000000..d38506d69d
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-133756_901aef/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-133756_901aef",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/session.lock b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/config.yaml b/examples/egocap/recordings/session_20261105-133756_901aef/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-133756_901aef/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/tests/backend/test_livekit_recording.py b/examples/egocap/tests/backend/test_livekit_recording.py
index 0198d5478f..1364f13def 100644
--- a/examples/egocap/tests/backend/test_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_livekit_recording.py
@@ -17,7 +17,9 @@
 from egocap_web.clock_exchange import ClockMapping
 from egocap_web.livekit_receiver import LiveKitFrameReceiver, ReceivedFrame, StreamCounters
 from egocap_web.livekit_recording import (
+    BUDGET_ENV,
     LiveKitRecordingFeed,
+    uncertainty_budget_ns,
     unrecordable_reason,
 )
 from egocap_web.recording_adapter import RecordingIngress
@@ -105,8 +107,9 @@ def offer(self, item: VideoSample) -> bool:
 class FakeClockSync:
     """Stands in for ClockSyncClient: a fixed mapping of the publisher clock (local = remote + 10 s)."""
 
-    def __init__(self, offset_ns: int = -10_000_000_000) -> None:
+    def __init__(self, offset_ns: int = -10_000_000_000, uncertainty_ns: int = 1_000) -> None:
         self.offset_ns = offset_ns
+        self.uncertainty_ns = uncertainty_ns
         self.discontinuity = False
         self.available = True
 
@@ -114,7 +117,7 @@ def mapping(self) -> ClockMapping | None:
         if not self.available:
             return None
         return ClockMapping(
-            epoch=1, offset_ns=self.offset_ns, rtt_ns=2_000, uncertainty_ns=1_000, accepted_at_ns=0
+            epoch=1, offset_ns=self.offset_ns, rtt_ns=2_000, uncertainty_ns=self.uncertainty_ns, accepted_at_ns=0
         )
 
 
@@ -192,6 +195,70 @@ async def test_mapping_offset_places_capture_time_on_the_local_clock():
     assert [m.capture_time for m in ingress.offered] == [11.0]
 
 
+@pytest.mark.parametrize(
+    ("value", "expected_ns"),
+    [
+        (None, 5_000_000),
+        ("", 5_000_000),
+        ("  ", 5_000_000),
+        ("2", 2_000_000),
+        ("0.5", 500_000),
+        (" 12.5 ", 12_500_000),
+    ],
+)
+def test_uncertainty_budget_defaults_and_overrides(monkeypatch, value, expected_ns):
+    if value is None:
+        monkeypatch.delenv(BUDGET_ENV, raising=False)
+    else:
+        monkeypatch.setenv(BUDGET_ENV, value)
+    assert uncertainty_budget_ns() == expected_ns
+
+
+@pytest.mark.parametrize("value", ["abc", "0", "-1", "nan", "-0.5"])
+def test_an_invalid_or_non_positive_budget_is_refused_naming_the_variable(monkeypatch, value):
+    monkeypatch.setenv(BUDGET_ENV, value)
+    with pytest.raises(ValueError, match=BUDGET_ENV):
+        uncertainty_budget_ns()
+
+
+async def test_frames_are_recorded_when_uncertainty_is_within_the_budget():
+    ingress = FakeIngress()
+    receiver = FakeReceiver({16: [_received(16, 1_000_000)]}, FakeClockSync(uncertainty_ns=3_000_000))
+    feed = _feed(receiver, [_stream(16, "Head left")], ingress, max_uncertainty_ns=3_000_000)
+    feed.start()
+    await _settle()
+    await feed.stop()
+    assert feed.failure is None
+    assert len(ingress.offered) == 1
+
+
+async def test_uncertainty_over_the_budget_fails_the_take_naming_the_budget(monkeypatch):
+    monkeypatch.delenv(BUDGET_ENV, raising=False)
+    reasons: list[str] = []
+    ingress = FakeIngress()
+    receiver = FakeReceiver({16: [_received(16, 1_000_000)]}, FakeClockSync(uncertainty_ns=5_000_001))
+    feed = _feed(receiver, [_stream(16, "Head left")], ingress, on_failure=reasons.append)
+    feed.start()
+    await _settle()
+    await feed.stop()
+    assert feed.failure is not None
+    assert BUDGET_ENV in feed.failure
+    assert "5.00 ms budget" in feed.failure
+    assert reasons == [feed.failure]
+    assert ingress.offered == []
+
+
+async def test_the_budget_comes_from_the_environment_when_not_passed(monkeypatch):
+    monkeypatch.setenv(BUDGET_ENV, "1")
+    receiver = FakeReceiver({16: [_received(16, 1_000_000)]}, FakeClockSync(uncertainty_ns=2_000_000))
+    feed = _feed(receiver, [_stream(16, "Head left")], FakeIngress())
+    feed.start()
+    await _settle()
+    await feed.stop()
+    assert feed.failure is not None
+    assert "1.00 ms budget" in feed.failure
+
+
 def test_a_receiver_without_clock_sync_is_refused():
     receiver = FakeReceiver({})
     receiver.clock_sync = None
diff --git a/examples/egocap/tests/backend/test_livekit_recording_source.py b/examples/egocap/tests/backend/test_livekit_recording_source.py
index 04155ea8b4..7fd35dc98b 100644
--- a/examples/egocap/tests/backend/test_livekit_recording_source.py
+++ b/examples/egocap/tests/backend/test_livekit_recording_source.py
@@ -414,7 +414,8 @@ async def test_without_clock_sync_there_is_no_timing_evidence():
     assert source.timing_evidence() is None
 
 
-async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under():
+async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under(monkeypatch):
+    monkeypatch.delenv(lrec.BUDGET_ENV, raising=False)
     streams = [livekit_stream(16), livekit_stream(17)]
     source, receiver = await prepared_source(streams)
     history = history_of(3)
@@ -439,6 +440,7 @@ async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under(
                 }
                 for m in history
             ],
+            "uncertainty_budget_ns": 5_000_000,
             "discontinuity": True,
             "exchanges_rejected": 4,
             "mapping_current_at_stop": False,
@@ -448,6 +450,13 @@ async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under(
     assert json.loads(json.dumps(evidence)) == evidence
 
 
+async def test_timing_evidence_records_the_configured_uncertainty_budget(monkeypatch):
+    monkeypatch.setenv(lrec.BUDGET_ENV, "2.5")
+    source, receiver = await prepared_source([livekit_stream(16)])
+    receiver.clock_sync = clock_sync_with(history_of(1))
+    assert source.timing_evidence()["clock_mapping"]["uncertainty_budget_ns"] == 2_500_000
+
+
 async def test_timing_evidence_carries_only_the_newest_mappings():
     source, receiver = await prepared_source([livekit_stream(16)])
     history = history_of(lrec._MAX_EVIDENCE_MAPPINGS + 36)
diff --git a/examples/egocap/tests/backend/test_synthetic_timeline.py b/examples/egocap/tests/backend/test_synthetic_timeline.py
index 6103c3d33a..ed5d120b82 100644
--- a/examples/egocap/tests/backend/test_synthetic_timeline.py
+++ b/examples/egocap/tests/backend/test_synthetic_timeline.py
@@ -254,7 +254,14 @@ async def run_timeline(
         timestamp_basis=p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US,
     )
     ingress = ListIngress()
-    feed = LiveKitRecordingFeed(receiver, [stream], ingress, {16: "cam"})
+    feed = LiveKitRecordingFeed(
+        # The simulated links are deliberately noisy; the budget gate has its own tests.
+        receiver,
+        [stream],
+        ingress,
+        {16: "cam"},
+        max_uncertainty_ns=1_000_000_000,
+    )
     feed.start()
     for _ in range(5000):
         await asyncio.sleep(0)

From cc3b27601020086f22b7fa5e3f8f83972098e2cf Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:48:01 -0800
Subject: [PATCH 41/54] egocap: age the clock mapping's uncertainty at read,
 and state what tracking times mean

ClockEstimator.mapping(now) grows the uncertainty with the age of the exchange,
so the recording budget cannot pass on a figure from before a reply gap. The
take's timing evidence names what each tracking source's time is (host poll;
controller pose-evaluation time; Manus host time at push) and that physical
alignment is unavailable. The native capture_monotonic_us option is described as
unverified.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md            |  3 +-
 .../backend/egocap_web/clock_exchange.py      | 13 +++++--
 .../backend/egocap_web/livekit_recording.py   | 10 ++++++
 .../tests/backend/test_clock_exchange.py      | 34 +++++++++++++++++++
 .../backend/test_livekit_recording_source.py  |  1 +
 5 files changed, 57 insertions(+), 4 deletions(-)

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index fc327e9406..fe5bd16700 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -53,7 +53,8 @@ backend's sensor timestamp through one anchor pair (the source clock and `CLOCK_
 refreshed once a second, never per frame): SIPL's capture counter as ticks of the ARM generic counter at its
 `CNTFRQ` rate, Argus's sensor timestamp as `CLOCK_MONOTONIC_RAW` nanoseconds. Both units are assumptions, so every
 frame is checked: a capture time later than the frame's ready time, or more than 2 s before it, fails the stream
-rather than being published. None of this has run on an Orin; the first run shows whether the assumed units hold, and
+rather than being published. The plausibility check only catches gross errors, so this option is not a qualified capture basis for
+synchronized recording until the target sensor's clock, event and encoder correlation are verified. None of this has run on an Orin; the first run shows whether the assumed units hold, and
 real alignment still needs the evidence below. The sender's only capture-event clock is the SIPL frame capture counter (`frameCaptureTSC`), which NVIDIA's public SIPL documentation describes as
 raw ARM generic-timer ticks, not nanoseconds (the sender carries it as `capture_tsc`, an unscaled value). The deployed
 Orin's SIPL headers are not available here, so nothing about its units or event is verified. The evidence required,
diff --git a/examples/egocap/backend/egocap_web/clock_exchange.py b/examples/egocap/backend/egocap_web/clock_exchange.py
index cb76bfb259..1f59af38e1 100644
--- a/examples/egocap/backend/egocap_web/clock_exchange.py
+++ b/examples/egocap/backend/egocap_web/clock_exchange.py
@@ -19,7 +19,7 @@
 from __future__ import annotations
 
 from collections import deque
-from dataclasses import dataclass
+from dataclasses import dataclass, replace
 
 #: Exchanges whose round trip exceeds this are not used: a slow or queued exchange says little about the clocks.
 DEFAULT_MAX_RTT_NS = 250_000_000
@@ -141,11 +141,18 @@ def add(self, exchange: Exchange) -> str | None:
         return None
 
     def mapping(self, now_ns: int) -> ClockMapping | None:
-        """The current mapping, or None when there is none yet or no exchange arrived within the stale limit."""
+        """The current mapping, or None when there is none yet or no exchange arrived within the stale limit.
+
+        The uncertainty is aged to ``now_ns``: while replies are late the offset's drift allowance keeps growing, so
+        a budget check on a returned mapping never sees a figure older than the call. History is not appended.
+        """
         current = self._current
         if current is None or self._newest_ns is None or now_ns - self._newest_ns > self._stale_after_ns:
             return None
-        return current
+        aged = current.rtt_ns // 2 + int(self._drift_allowance * max(0, now_ns - current.accepted_at_ns))
+        if aged <= current.uncertainty_ns:
+            return current
+        return replace(current, uncertainty_ns=aged)
 
     def _uncertainty_ns(self, exchange: Exchange, now_ns: int) -> int:
         """Half the round trip plus the offset drift the exchange's age allows at the allowed relative rate."""
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index cdd14e18bb..73679bc73c 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -54,6 +54,15 @@
 _DEFAULT_BUDGET_MS = 5.0
 
 
+# What each tracking source's saved time means today; none is a physical acquisition time.
+_TRACKING_SEMANTICS: dict[str, str] = {
+    "recorded_time": "the host's poll time for every tracking source",
+    "controllers": "device value is the pose-evaluation time (a runtime-predicted XrTime), not an acquisition time",
+    "manus_gloves": "device value is host monotonic time at push; the SDK publishTime is not used",
+    "physical_alignment": "unavailable: no tracking source carries a mapped device measurement time",
+}
+
+
 def uncertainty_budget_ns() -> int:
     """The largest clock-mapping uncertainty a take may be recorded with, from the environment or the default."""
     raw = os.environ.get(BUDGET_ENV)
@@ -442,6 +451,7 @@ def timing_evidence(self) -> dict[str, Any] | None:
             },
             # Tracking samples carry the host's poll time for every source; device measurement times are unmapped.
             "tracking_time": "host_poll",
+            "tracking_semantics": _TRACKING_SEMANTICS,
         }
 
     async def stop(self) -> None:
diff --git a/examples/egocap/tests/backend/test_clock_exchange.py b/examples/egocap/tests/backend/test_clock_exchange.py
index f6e9f0d06c..01794ca51c 100644
--- a/examples/egocap/tests/backend/test_clock_exchange.py
+++ b/examples/egocap/tests/backend/test_clock_exchange.py
@@ -361,3 +361,37 @@ def test_history_keeps_only_the_newest_mappings_however_many_are_adopted() -> No
 
     assert len(estimator.history) == _MAX_HISTORY
     assert [m.accepted_at_ns for m in estimator.history] == [e.t4 for e in exchanges[-_MAX_HISTORY:]]
+
+
+def test_mapping_uncertainty_ages_between_exchanges_without_growing_history() -> None:
+    estimator = ClockEstimator(drift_allowance=200e-6)
+    ex = make_exchange(10 * S, offset=5 * MS, forward=2 * MS, back=2 * MS)
+    assert estimator.add(ex) is None
+    at_add = estimator.mapping(ex.t4)
+    assert at_add is not None
+    assert at_add.uncertainty_ns == ex.rtt_ns // 2
+
+    later = estimator.mapping(ex.t4 + 3 * S)
+    assert later is not None
+    assert later.uncertainty_ns == ex.rtt_ns // 2 + int(200e-6 * 3 * S)
+    assert later.uncertainty_ns > at_add.uncertainty_ns
+    # Only the offset and epoch it was made under are unchanged, and reading never appends evidence.
+    assert (later.offset_ns, later.epoch, later.accepted_at_ns) == (
+        at_add.offset_ns,
+        at_add.epoch,
+        at_add.accepted_at_ns,
+    )
+    assert len(estimator.history) == 1
+
+
+def test_mapping_uncertainty_is_withheld_past_stale_limit_and_resets_on_a_new_exchange() -> None:
+    estimator = ClockEstimator(stale_after_ns=5 * S)
+    first = make_exchange(10 * S, forward=MS, back=MS)
+    estimator.add(first)
+    assert estimator.mapping(first.t4 + 6 * S) is None
+
+    second = make_exchange(20 * S, forward=MS, back=MS)
+    estimator.add(second)
+    fresh = estimator.mapping(second.t4)
+    assert fresh is not None
+    assert fresh.uncertainty_ns == second.rtt_ns // 2
diff --git a/examples/egocap/tests/backend/test_livekit_recording_source.py b/examples/egocap/tests/backend/test_livekit_recording_source.py
index 7fd35dc98b..6ed25d9c5d 100644
--- a/examples/egocap/tests/backend/test_livekit_recording_source.py
+++ b/examples/egocap/tests/backend/test_livekit_recording_source.py
@@ -446,6 +446,7 @@ async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under(
             "mapping_current_at_stop": False,
         },
         "tracking_time": "host_poll",
+        "tracking_semantics": lrec._TRACKING_SEMANTICS,
     }
     assert json.loads(json.dumps(evidence)) == evidence
 

From ca0a491be7f9297247f5562ffc8aa89950d2ab07 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:50:43 -0800
Subject: [PATCH 42/54] egocap: age the browser clock mapping at read;
 shared-truth timeline and aging tests

The browser estimator recomputes the mapping's uncertainty from the exchange's
age, as the PC estimator does. New tests: a camera, glove-like and
controller-like source with independent clocks and delays through real video
and numeric ingestion into a saved take, with drop and clock-jump cases; a feed
that fails once aging pushes the mapping over budget. Existing estimator tests
now expect the aged figure.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md            |   3 +-
 .../egocap/frontend/src/clockExchange.test.ts |  56 +++
 examples/egocap/frontend/src/clockExchange.ts |  10 +-
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 119 ++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../.recording/calibration_assets.json        |   7 +
 .../.recording/episode_0.json                 | 180 +++++++++
 .../.recording/session.lock                   |   0
 .../config.yaml                               |   2 +
 .../episode_0/head_human_camera.mp4           |   3 +
 .../head_human_camera/capture_time/c/0        | Bin 0 -> 92 bytes
 .../head_human_camera/capture_time/zarr.json  |  40 ++
 .../head_human_camera/receive_time/c/0        | Bin 0 -> 92 bytes
 .../head_human_camera/receive_time/zarr.json  |  40 ++
 .../episode_0/head_human_camera/zarr.json     |   5 +
 .../episode_0/manus_glove/capture_time/c/0    | Bin 0 -> 153 bytes
 .../manus_glove/capture_time/zarr.json        |  40 ++
 .../manus_glove/left_hand_pose/c/0/0/0/0      | Bin 0 -> 31122 bytes
 .../manus_glove/left_hand_pose/zarr.json      |  46 +++
 .../episode_0/manus_glove/receive_time/c/0    | Bin 0 -> 154 bytes
 .../manus_glove/receive_time/zarr.json        |  40 ++
 .../manus_glove/right_hand_pose/c/0/0/0/0     | Bin 0 -> 31214 bytes
 .../manus_glove/right_hand_pose/zarr.json     |  46 +++
 .../episode_0/manus_glove/zarr.json           |   5 +
 .../pico_controller/a_button/zarr.json        |  37 ++
 .../pico_controller/b_button/zarr.json        |  37 ++
 .../pico_controller/capture_time/c/0          | Bin 0 -> 153 bytes
 .../pico_controller/capture_time/zarr.json    |  40 ++
 .../pico_controller/head_pose/c/0/0/0         | Bin 0 -> 1597 bytes
 .../pico_controller/head_pose/zarr.json       |  44 +++
 .../pico_controller/left_pose/c/0/0/0         | Bin 0 -> 1629 bytes
 .../pico_controller/left_pose/zarr.json       |  44 +++
 .../pico_controller/left_trigger/zarr.json    |  40 ++
 .../pico_controller/receive_time/c/0          | Bin 0 -> 154 bytes
 .../pico_controller/receive_time/zarr.json    |  40 ++
 .../pico_controller/right_pose/c/0/0/0        | Bin 0 -> 1652 bytes
 .../pico_controller/right_pose/zarr.json      |  44 +++
 .../pico_controller/right_trigger/zarr.json   |  40 ++
 .../pico_controller/x_button/zarr.json        |  37 ++
 .../pico_controller/y_button/zarr.json        |  37 ++
 .../episode_0/pico_controller/zarr.json       |   5 +
 .../episode_0/zarr.json                       | 128 ++++++
 .../tests/backend/test_clock_exchange.py      |   8 +-
 .../tests/backend/test_livekit_recording.py   |  66 ++++
 .../backend/test_shared_truth_timeline.py     | 368 ++++++++++++++++++
 47 files changed, 1660 insertions(+), 6 deletions(-)
 create mode 100644 examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/calibration_assets.json
 create mode 100644 examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/episode_0.json
 create mode 100644 examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/session.lock
 create mode 100644 examples/egocap/recordings/session_20261105-134926_44f8c6/config.yaml
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/.recording/calibration_assets.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/.recording/episode_0.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/.recording/session.lock
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/config.yaml
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera.mp4
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/c/0/0/0/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/a_button/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/b_button/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/head_pose/c/0/0/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/head_pose/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/c/0/0/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_trigger/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/c/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/c/0/0/0
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_trigger/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/x_button/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/y_button/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/zarr.json
 create mode 100644 examples/egocap/recordings/session_20261105-134927_267125/episode_0/zarr.json
 create mode 100644 examples/egocap/tests/backend/test_shared_truth_timeline.py

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index fe5bd16700..993707a870 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -38,7 +38,8 @@ offset assumes both directions took equally long, so the mapping's uncertainty i
 smaller is claimed. The best recent exchange is used; a mapping is withheld when its last exchange is more than 5 s
 old; and a new exchange that disagrees with the current mapping by more than the two uncertainties plus a 200 ppm
 drift allowance is a discontinuity. A take cannot start until the publisher has answered at least once, and ends if
-the mapping goes missing, goes stale or jumps; frames already recorded keep the mapping they were made under, and
+the mapping goes missing, goes stale or jumps; frames already recorded keep the mapping they were made under (a jump is only seen at the next exchange, so frames
+captured since the previous one carry its error), and
 the newest mapping epochs, their uncertainties and the budget are saved in the kept episode's `timing` attributes. A
 take also ends when the mapping's uncertainty exceeds the budget, 5 ms by default and set in milliseconds with
 `EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS`; the default is a policy choice, not a measurement. The recorder
diff --git a/examples/egocap/frontend/src/clockExchange.test.ts b/examples/egocap/frontend/src/clockExchange.test.ts
index 89b35d8ecb..a494368a78 100644
--- a/examples/egocap/frontend/src/clockExchange.test.ts
+++ b/examples/egocap/frontend/src/clockExchange.test.ts
@@ -209,3 +209,59 @@ describe("clock-sync messages", () => {
     expect(decodeReply(wrong)).toBeNull();
   });
 });
+
+describe("ClockEstimator aging at read", () => {
+  const SEC = 1_000_000_000n;
+  const RES = 100_000n; // a 0.1 ms browser timer
+
+  /** One 10 ms round trip completing at t4 = 11 s. */
+  function seeded(resolution = RES): { est: ClockEstimator; e: Exchange } {
+    const est = new ClockEstimator(resolution);
+    const e = exchange(10n * SEC, 500n * MS, 5n * MS, 5n * MS);
+    expect(est.add(e)).toBeNull();
+    return { est, e };
+  }
+
+  it("grows with time while no new exchange arrives", () => {
+    const { est, e } = seeded();
+    const at = (s: bigint) => est.mapping(e.t4 + s * SEC)!.uncertaintyNs;
+    expect(at(1n)).toBeGreaterThan(at(0n));
+    expect(at(3n)).toBeGreaterThan(at(1n));
+    expect(at(4n)).toBeGreaterThan(at(3n));
+  });
+
+  it("equals half the round trip plus 200 ppm of the age plus the timer resolution", () => {
+    const { est, e } = seeded();
+    expect(est.mapping(e.t4)!.uncertaintyNs).toBe(5n * MS + RES);
+    const age = 4n * SEC;
+    expect(est.mapping(e.t4 + age)!.uncertaintyNs).toBe(5n * MS + (age * 200n) / 1_000_000n + RES);
+    // Recomputed, not accumulated: reading at an earlier time again gives the earlier figure back.
+    expect(est.mapping(e.t4 + 1n * SEC)!.uncertaintyNs).toBe(5n * MS + (1n * SEC * 200n) / 1_000_000n + RES);
+  });
+
+  it("keeps the same offset and epoch while aging", () => {
+    const { est, e } = seeded();
+    const fresh = est.mapping(e.t4)!;
+    const aged = est.mapping(e.t4 + 3n * SEC)!;
+    expect(aged.offsetNs).toBe(fresh.offsetNs);
+    expect(aged.epoch).toBe(fresh.epoch);
+    expect(aged.acceptedAtNs).toBe(fresh.acceptedAtNs);
+  });
+
+  it("is null once no exchange has arrived within the stale limit", () => {
+    const { est, e } = seeded();
+    expect(est.mapping(e.t4 + 5n * SEC)).not.toBeNull();
+    expect(est.mapping(e.t4 + 5n * SEC + 1n)).toBeNull();
+  });
+
+  it("drops back to the exchange figure when a new exchange arrives", () => {
+    const { est, e } = seeded();
+    const stale = est.mapping(e.t4 + 4n * SEC)!.uncertaintyNs;
+    const next = exchange(e.t4 + 4n * SEC, 500n * MS, 5n * MS, 5n * MS);
+    expect(est.add(next)).toBeNull();
+    const fresh = est.mapping(next.t4)!;
+    expect(fresh.uncertaintyNs).toBe(5n * MS + RES);
+    expect(fresh.uncertaintyNs).toBeLessThan(stale);
+    expect(fresh.acceptedAtNs).toBe(next.t4);
+  });
+});
diff --git a/examples/egocap/frontend/src/clockExchange.ts b/examples/egocap/frontend/src/clockExchange.ts
index 208ae3f13b..34e32befc6 100644
--- a/examples/egocap/frontend/src/clockExchange.ts
+++ b/examples/egocap/frontend/src/clockExchange.ts
@@ -109,11 +109,17 @@ export class ClockEstimator {
     return null;
   }
 
-  /** The current mapping, or null when there is none yet or the last exchange is stale at `nowNs`. */
+  /**
+   * The current mapping, or null when there is none yet or the last exchange is stale at `nowNs`. The uncertainty
+   * is recomputed for `nowNs` from the exchange's own age (never added to the cached figure), so it keeps growing
+   * while replies are late.
+   */
   mapping(nowNs: bigint): ClockMapping | null {
     const current = this.current;
     if (current === null || this.newestNs === null || nowNs - this.newestNs > this.staleAfterNs) return null;
-    return current;
+    const age = nowNs > current.acceptedAtNs ? nowNs - current.acceptedAtNs : 0n;
+    const aged = current.rttNs / 2n + (age * DEFAULT_DRIFT_ALLOWANCE_PPM) / 1_000_000n + this.timerResolutionNs;
+    return aged <= current.uncertaintyNs ? current : { ...current, uncertaintyNs: aged };
   }
 
   /** Half the round trip, the drift its age allows, and this browser's timer resolution. */
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/episode_0.json
new file mode 100644
index 0000000000..d170e8b99c
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/episode_0.json
@@ -0,0 +1,119 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {},
+  "duration_seconds": 0.0,
+  "episode_id": "session_20261105-134926_44f8c6/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": null,
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": null,
+  "quality": null,
+  "schema_version": 3,
+  "session_id": "session_20261105-134926_44f8c6",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "DISCARDED",
+  "studio": null,
+  "task": "Pour water."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/session.lock b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/config.yaml b/examples/egocap/recordings/session_20261105-134926_44f8c6/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134926_44f8c6/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-134927_267125/.recording/calibration_assets.json
new file mode 100644
index 0000000000..b9674043a2
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/.recording/calibration_assets.json
@@ -0,0 +1,7 @@
+{
+  "head_camera_extrinsics.json": null,
+  "head_camera_intrinsics.json": null,
+  "left_wrist_camera_intrinsics.json": null,
+  "right_wrist_camera_intrinsics.json": null,
+  "wrist_calibration_offsets.json": null
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-134927_267125/.recording/episode_0.json
new file mode 100644
index 0000000000..22247a44a8
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/.recording/episode_0.json
@@ -0,0 +1,180 @@
+{
+  "assignment": null,
+  "capture_policy": null,
+  "capture_quality": null,
+  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "counts": {
+    "head_human_camera": {
+      "accepted": 9,
+      "written": 9
+    },
+    "manus_glove": {
+      "accepted": 19,
+      "written": 19
+    },
+    "pico_controller": {
+      "accepted": 19,
+      "written": 19
+    }
+  },
+  "duration_seconds": 0.3008718260025489,
+  "episode_id": "session_20261105-134927_267125/episode_0",
+  "episode_index": 0,
+  "final_path": "episode_0",
+  "finalization": "KEEP",
+  "issues": [],
+  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+  "operator": "<tester>",
+  "pending_path": "episode_0.pending",
+  "qc_decision": "SKIPPED",
+  "quality": {
+    "check_results": [
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "schema_readable",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "required_sources_nonempty",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "accepted_equals_written",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "timestamps_valid",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "numeric_values_finite",
+        "outcome": "PASSED"
+      },
+      {
+        "evidence": [],
+        "issues": [],
+        "measurements": {},
+        "name": "video_readable_and_aligned",
+        "outcome": "PASSED"
+      }
+    ],
+    "issues": [],
+    "outcome": "PASSED",
+    "warnings": []
+  },
+  "schema_version": 3,
+  "session_id": "session_20261105-134927_267125",
+  "sources": [
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "head_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_pose",
+          "shape": [
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "left_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "float64",
+          "name": "right_trigger",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "a_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "b_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "x_button",
+          "shape": []
+        },
+        {
+          "dtype": "bool",
+          "name": "y_button",
+          "shape": []
+        }
+      ],
+      "kind": "numeric",
+      "name": "pico_controller"
+    },
+    {
+      "fields": [
+        {
+          "dtype": "float64",
+          "name": "left_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        },
+        {
+          "dtype": "float64",
+          "name": "right_hand_pose",
+          "shape": [
+            25,
+            4,
+            4
+          ]
+        }
+      ],
+      "kind": "numeric",
+      "name": "manus_glove"
+    },
+    {
+      "encoder": "ffmpeg_h264",
+      "encoder_options": null,
+      "fps": 30.0,
+      "height": 720,
+      "intrinsics": false,
+      "kind": "video",
+      "name": "head_human_camera",
+      "width": 1280
+    }
+  ],
+  "storage_phase": "FINALIZED",
+  "studio": null,
+  "task": "Pour water into the cup."
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/.recording/session.lock b/examples/egocap/recordings/session_20261105-134927_267125/.recording/session.lock
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/config.yaml b/examples/egocap/recordings/session_20261105-134927_267125/config.yaml
new file mode 100644
index 0000000000..108ee6fe71
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/config.yaml
@@ -0,0 +1,2 @@
+meta:
+  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera.mp4
new file mode 100644
index 0000000000..2f25808c3c
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a715901837d6b8fe7e9b663d200131888be6b3195adc0e21bd3b1e3788f4d2b
+size 4147
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..e13c618e61eb92c5ce246412cb09b009f28d6dff
GIT binary patch
literal 92
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m1+%Uhke<$vXK4<kMLr1mSODoCq5Co|fiwdn1Ls@&4kiHkLM6li

literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/zarr.json
new file mode 100644
index 0000000000..21a70a889e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    9
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..d664cb539dc6dc2046e8ff2219f98bc8d2639a57
GIT binary patch
literal 92
zcmdPcs{c2Efqg0y!xWZFbKOqs$3J$k{Hk%s07$p*yz|5mNOy<3|1bj5GZN$FO@Z{J
mZ;pm$K-xUunzcEQ7A`aPvjEaz9yhWrfiwdn1Ls@&4kiFjBqojk

literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/zarr.json
new file mode 100644
index 0000000000..21a70a889e
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    9
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
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+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
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+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..0eb3d6dd66e436e78521368649f137b94933de77
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literal 0
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+    }
+  },
+  "chunk_key_encoding": {
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+    "configuration": {
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+  "fill_value": 0.0,
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+  "attributes": {},
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+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/c/0/0/0/0
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..02e26844e1b2fdf32d687f0550d9b16877b3434f
GIT binary patch
literal 154
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..34d865e31c028f3f8d6a360009e4a69908fd8b2f
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literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/zarr.json
new file mode 100644
index 0000000000..9fa39812e9
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/zarr.json
@@ -0,0 +1,46 @@
+{
+  "shape": [
+    19,
+    25,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        25,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/a_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/a_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/b_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/b_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/c/0
new file mode 100644
index 0000000000000000000000000000000000000000..0eb3d6dd66e436e78521368649f137b94933de77
GIT binary patch
literal 153
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xuUR)^(?4N(3n1G}@aiH)(|%J+Ae(`cA?5Ku2ET(`4jLR>O-&0FR<J(h0{|wFL)HKQ

literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/head_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/head_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/head_pose/zarr.json
@@ -0,0 +1,44 @@
+{
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+    19,
+    4,
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+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
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+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
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+    }
+  },
+  "fill_value": 0.0,
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+}
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/c/0/0/0
new file mode 100644
index 0000000000000000000000000000000000000000..f3ffc3041ddd110033270201a4f393c6e1b02f50
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/zarr.json
@@ -0,0 +1,44 @@
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_trigger/zarr.json
@@ -0,0 +1,40 @@
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/c/0
new file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/zarr.json
new file mode 100644
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+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/zarr.json
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/c/0/0/0
new file mode 100644
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z+_(V3r;XoE*De6DUN^rX1XrXc0eX0dFFV%*l)eukHiXWh1f%HRX6rE4qzBt<i>juY
z+~Hx<H%l1<I+!bgCy&fw3D!TJO?a&AHu5aC-{A9Hxw~^X!|<OP<cIPWSE=cworSpK
h2<nzfXvZ4&@?xmp{G75;O5?nU$^Mq4`Jnb6{|Ab4Mg#x=

literal 0
HcmV?d00001

diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/zarr.json
new file mode 100644
index 0000000000..52064c3cc6
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/zarr.json
@@ -0,0 +1,44 @@
+{
+  "shape": [
+    19,
+    4,
+    4
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256,
+        4,
+        4
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_trigger/zarr.json
new file mode 100644
index 0000000000..5ca9a10976
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_trigger/zarr.json
@@ -0,0 +1,40 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "float64",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": 0.0,
+  "codecs": [
+    {
+      "name": "bytes",
+      "configuration": {
+        "endian": "little"
+      }
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/x_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/x_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/y_button/zarr.json
new file mode 100644
index 0000000000..5da83687dc
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/y_button/zarr.json
@@ -0,0 +1,37 @@
+{
+  "shape": [
+    19
+  ],
+  "data_type": "bool",
+  "chunk_grid": {
+    "name": "regular",
+    "configuration": {
+      "chunk_shape": [
+        256
+      ]
+    }
+  },
+  "chunk_key_encoding": {
+    "name": "default",
+    "configuration": {
+      "separator": "/"
+    }
+  },
+  "fill_value": false,
+  "codecs": [
+    {
+      "name": "bytes"
+    },
+    {
+      "name": "zstd",
+      "configuration": {
+        "level": 0,
+        "checksum": false
+      }
+    }
+  ],
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "array",
+  "storage_transformers": []
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/zarr.json
new file mode 100644
index 0000000000..d1f97dad69
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/zarr.json
@@ -0,0 +1,5 @@
+{
+  "attributes": {},
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/zarr.json
new file mode 100644
index 0000000000..5e164d5dc7
--- /dev/null
+++ b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/zarr.json
@@ -0,0 +1,128 @@
+{
+  "attributes": {
+    "recording_episode_id": "session_20261105-134927_267125/episode_0",
+    "session_id": "session_20261105-134927_267125",
+    "video_encoder_options": {
+      "head_human_camera": {
+        "crf": 12,
+        "preset": "medium",
+        "pix_fmt": "yuv420p"
+      }
+    },
+    "task_description": "Pour water into the cup.",
+    "instruction_language": "Pour water into the cup.",
+    "operator_name": "<tester>",
+    "episode_length": 9,
+    "episode_duration": 0.3008718260025489,
+    "recorded_at": "2026-11-05; 13-49-27",
+    "integrity_check_passed": true,
+    "integrity_check_issues": [],
+    "domain_checks": "SKIPPED",
+    "capture_qc_decision": "SKIPPED",
+    "capture_qc_issues": [],
+    "capture_qc_warnings": [],
+    "capture_qc_results": [],
+    "capture_qc_policy": null,
+    "bad_episode": false,
+    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
+    "sources": [
+      {
+        "kind": "numeric",
+        "name": "pico_controller",
+        "fields": [
+          {
+            "name": "head_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_pose",
+            "dtype": "float64",
+            "shape": [
+              4,
+              4
+            ]
+          },
+          {
+            "name": "left_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "right_trigger",
+            "dtype": "float64",
+            "shape": []
+          },
+          {
+            "name": "a_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "b_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "x_button",
+            "dtype": "bool",
+            "shape": []
+          },
+          {
+            "name": "y_button",
+            "dtype": "bool",
+            "shape": []
+          }
+        ]
+      },
+      {
+        "kind": "numeric",
+        "name": "manus_glove",
+        "fields": [
+          {
+            "name": "left_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          },
+          {
+            "name": "right_hand_pose",
+            "dtype": "float64",
+            "shape": [
+              25,
+              4,
+              4
+            ]
+          }
+        ]
+      },
+      {
+        "kind": "video",
+        "name": "head_human_camera",
+        "width": 1280,
+        "height": 720,
+        "fps": 30.0,
+        "encoder": "ffmpeg_h264",
+        "intrinsics": false,
+        "encoder_options": null
+      }
+    ],
+    "calibration_assets": {}
+  },
+  "zarr_format": 3,
+  "node_type": "group"
+}
\ No newline at end of file
diff --git a/examples/egocap/tests/backend/test_clock_exchange.py b/examples/egocap/tests/backend/test_clock_exchange.py
index 01794ca51c..8ca6ae56ae 100644
--- a/examples/egocap/tests/backend/test_clock_exchange.py
+++ b/examples/egocap/tests/backend/test_clock_exchange.py
@@ -93,7 +93,8 @@ def test_high_rtt_outlier_does_not_replace_better_mapping() -> None:
         good.rtt_ns,
         good.accepted_at_ns,
     )
-    assert mapping.uncertainty_ns == good.uncertainty_ns + int(200e-6 * (slow.t4 - good.accepted_at_ns))
+    # Aged at read: half the old exchange's round trip plus the drift allowance over its age at the read time.
+    assert mapping.uncertainty_ns == good.rtt_ns // 2 + int(200e-6 * (3 * S - good.accepted_at_ns))
 
 
 def test_uncertainty_includes_the_age_of_the_chosen_exchange() -> None:
@@ -160,12 +161,13 @@ def test_rejected_exchange_reports_reason_and_leaves_mapping_unchanged(name: str
     estimator.add(make_exchange(S, offset=MS))
     before = estimator.mapping(2 * S)
     assert before is not None
+    history_before = list(estimator.history)
 
     reason = estimator.add(bad)
 
     assert isinstance(reason, str) and reason
-    assert estimator.mapping(2 * S) is before
-    assert estimator.history == [before]
+    assert estimator.mapping(2 * S) == before
+    assert estimator.history == history_before
     assert not estimator.discontinuity
 
 
diff --git a/examples/egocap/tests/backend/test_livekit_recording.py b/examples/egocap/tests/backend/test_livekit_recording.py
index 1364f13def..9c87e2dd22 100644
--- a/examples/egocap/tests/backend/test_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_livekit_recording.py
@@ -259,6 +259,72 @@ async def test_the_budget_comes_from_the_environment_when_not_passed(monkeypatch
     assert "1.00 ms budget" in feed.failure
 
 
+async def test_a_mapping_in_budget_at_the_first_frame_ages_over_budget_when_replies_stop(monkeypatch):
+    """Real estimator and sync client: only time passing, with no new exchange, pushes the take over budget."""
+    from egocap_web.clock_exchange import ClockEstimator, Exchange
+    from egocap_web.livekit_clock_sync import ClockSyncClient
+
+    monkeypatch.delenv(BUDGET_ENV, raising=False)
+    s = 1_000_000_000
+    now = [100 * s]
+    # Stale limit raised so the aged figure, not the staleness rule, is what stops the take.
+    client = ClockSyncClient(
+        None,  # type: ignore[arg-type]  # only mapping() is used; no room is needed
+        "o",
+        monotonic_ns=lambda: now[0],
+        estimator=ClockEstimator(stale_after_ns=600 * s),
+    )
+    remote_offset_ns = 1_000 * s  # the publisher's clock reads this far ahead of ours
+    # A 2 ms round trip: 1 ms uncertainty at the exchange, 5 ms budget.
+    t1 = 99 * s
+    assert (
+        client.estimator.add(
+            Exchange(
+                t1=t1,
+                t2=t1 + 1_000_000 + remote_offset_ns,
+                t3=t1 + 1_000_000 + remote_offset_ns,
+                t4=t1 + 2_000_000,
+            )
+        )
+        is None
+    )
+
+    def frame(capture_local_s: float) -> ReceivedFrame:
+        user_ts_us = round((capture_local_s * s + remote_offset_ns) / 1000)
+        return _received(16, user_ts_us, receive_ns=round((capture_local_s + 0.1) * s))
+
+    class AgingReceiver(FakeReceiver):
+        """Delivers each frame at its own local time: the clock moves, no clock-sync reply arrives."""
+
+        def __init__(self, scripted: list[tuple[int, ReceivedFrame]]) -> None:
+            super().__init__({}, client)
+            self.scripted = scripted
+
+        async def next_frame_or_lost(self, stream_id: int) -> ReceivedFrame | None:
+            if not self.scripted:
+                await asyncio.Event().wait()
+            at_ns, received = self.scripted.pop(0)
+            now[0] = at_ns
+            return received
+
+    first, second, third = frame(100.0), frame(129.9), frame(130.0)
+    receiver = AgingReceiver([(round(100.1 * s), first), (round(130 * s), second), (round(130.1 * s), third)])
+    ingress = FakeIngress()
+    feed = _feed(receiver, [_stream(16, "Head left")], ingress, {16: "head_left"}, max_uncertainty_ns=5_000_000)
+    feed.start()
+    await _settle()
+    await feed.stop()
+
+    assert client.mapping() is not None  # not stale: the budget, not staleness, is what failed
+    assert [m.capture_time for m in ingress.offered] == [pytest.approx(100.0)]  # the earlier frame stays recorded
+    assert feed.failure is not None
+    assert BUDGET_ENV in feed.failure
+    assert "5.00 ms budget" in feed.failure
+    # 1 ms from the round trip plus the default 200 ppm over the 31 s since the exchange.
+    assert "uncertain by 7.20 ms" in feed.failure
+    assert len(receiver.scripted) == 1  # nothing after the failing frame was taken
+
+
 def test_a_receiver_without_clock_sync_is_refused():
     receiver = FakeReceiver({})
     receiver.clock_sync = None
diff --git a/examples/egocap/tests/backend/test_shared_truth_timeline.py b/examples/egocap/tests/backend/test_shared_truth_timeline.py
new file mode 100644
index 0000000000..e6e30b368b
--- /dev/null
+++ b/examples/egocap/tests/backend/test_shared_truth_timeline.py
@@ -0,0 +1,368 @@
+# SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+"""Known physical events seen by a camera and by two host-polled sources, read back from the SAVED take.
+
+Truth events happen at known times on one reference timeline (the PC's monotonic clock). They reach a recording
+three ways, each through the production path:
+
+* a camera on its own clock (offset, drift), through ``LiveKitRecordingFeed`` with the real ``ClockEstimator``; its
+  frame stamp is the capture instant, a fixed pipeline delay after the event, and its delivery delay jitters;
+* a glove-like and a controller-like source, as ``CaptureFrame`` tracking blobs through the real conversion, saved
+  under the HOST POLL time (``capture_time_ns``). That is not a device measurement time and nothing here maps it:
+  an event shows up in the first poll at or after it, so its saved time is the poll time, up to one poll period
+  late, and a source with no device latency model is assumed to have none.
+
+Everything goes through ``RecordingIngress`` into a real ``RecordingService`` take; the assertions read the kept
+episode's ``capture_time`` arrays. Identity travels in the payloads (video: the value of the frame's pixels as
+submitted; glove: a joint distance; controller: a trigger value), so a time is matched to the event it belongs to.
+
+This proves the plumbing and the uncertainty accounting on synthetic clocks. It does not prove physical sensor
+alignment: the camera's pipeline delay and the poll-source latency are stated constants here, not measured.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import random
+from dataclasses import dataclass
+
+import numpy as np
+import pytest
+import zarr
+
+from capture_server import protocol as p
+from capture_server.client import CaptureFrame
+from egocap_web.livekit_receiver import ReceivedFrame
+from egocap_web.livekit_recording import LiveKitRecordingFeed
+from egocap_web.recording_adapter import (
+    MANUS_GLOVE_SOURCE,
+    MANUS_GLOVE_SPEC,
+    PICO_CONTROLLER_SOURCE,
+    PICO_CONTROLLER_SPEC,
+    RecordingIngress,
+)
+from recording_service import QcConfig, RecordingService, ServiceConfig, VideoSourceSpec
+
+from .test_recording_adapter import default_tracking_values
+from .test_synthetic_timeline import (
+    QUANTIZATION_S,
+    Device,
+    DeviceClock,
+    S,
+    SimReceiver,
+)
+
+BASE_S = 5000.0  # the PC's monotonic time of the first event
+EVENT_PERIOD_S = 0.25
+EVENTS = 24
+#: The camera stamps the capture instant this long after the physical event (exposure and readout).
+CAM_PIPELINE_S = 0.012
+#: Host polls of the two tracking sources; phases differ so they never coincide.
+GLOVE_POLL_S, GLOVE_PHASE_S = 0.010, 0.003
+CONTROLLER_POLL_S, CONTROLLER_PHASE_S = 0.014, 0.005
+#: A feed budget this tight is well above what the link below can produce, so no take fails on it by accident.
+BUDGET_NS = 8_000_000
+CAM = "cam"
+GLOVE_EVENT_BASE_M, GLOVE_EVENT_STEP_M = 0.05, 0.001
+
+
+def lan_link(rng: random.Random) -> tuple[int, int]:
+    """2 ms each way plus up to 3 ms of independent queueing: uncertainty at most 5 ms."""
+    return 2_000_000 + int(rng.uniform(0, 3e6)), 2_000_000 + int(rng.uniform(0, 3e6))
+
+
+def event_time_s(k: int) -> float:
+    return BASE_S + k * EVENT_PERIOD_S
+
+
+def latest_event_at(time_s: float) -> int:
+    """The newest event that has happened by ``time_s`` (what a host poll at that time sees)."""
+    return min(EVENTS - 1, int((time_s - BASE_S) // EVENT_PERIOD_S))
+
+
+def _poll_grid(period_s: float, phase_s: float, gaps: tuple[tuple[float, float], ...]) -> list[float]:
+    """Host poll times from the first event to a little after the last, minus any stall windows."""
+    end_s = event_time_s(EVENTS - 1) + 0.3
+    times = [BASE_S + phase_s + i * period_s for i in range(round((end_s - BASE_S) / period_s))]
+    return [t for t in times if not any(lo <= t < hi for lo, hi in gaps)]
+
+
+def _tracking_frame(time_s: float, *, glove_event: int | None, controller_event: int | None) -> CaptureFrame:
+    """One tracking blob polled at ``time_s``. Only one source is valid in it, so each source has its own polls."""
+    values = default_tracking_values()
+    if glove_event is None:
+        for side in ("left", "right"):
+            values[f"hand_{side}.joint_valid"] = np.zeros(26, dtype=np.uint8)
+    else:
+        for side in ("left", "right"):
+            positions = np.array(values[f"hand_{side}.joint_positions"], dtype=np.float32)
+            positions[10] = positions[1] + np.array(
+                [GLOVE_EVENT_BASE_M + glove_event * GLOVE_EVENT_STEP_M, 0, 0], dtype=np.float32
+            )
+            values[f"hand_{side}.joint_positions"] = positions
+    if controller_event is None:
+        values["head.is_valid"] = 0
+    else:
+        values["controller_left.trigger_value"] = controller_event / 64.0  # exact in float32
+    ns = round(time_s * S)
+    return CaptureFrame(
+        session_id="s",
+        description=None,  # type: ignore[arg-type]
+        stream_id=1,
+        sequence=0,
+        capture_time_ns=ns,
+        receive_time_ns=ns + 1_000_000,
+        payload=p.encode_tracking_frame(values),
+    )
+
+
+@dataclass
+class Saved:
+    """The kept episode's per-source ``capture_time`` arrays, with what each row says it is."""
+
+    camera_t: np.ndarray
+    camera_k: list[int]  # event identity of each saved camera row, from the pixels as submitted
+    camera_unc_s: list[float]  # the mapping uncertainty the feed declared for each saved camera row
+    glove_t: np.ndarray
+    glove_k: np.ndarray
+    controller_t: np.ndarray
+    controller_k: np.ndarray
+    feed_failure: str | None
+    raw_cam_stamp_s: dict[int, float]  # what the camera wrote, before any mapping
+
+
+async def run_take(
+    tmp_path,
+    *,
+    cam_clock: DeviceClock,
+    cam_drop: frozenset[int] = frozenset(),
+    glove_gaps: tuple[tuple[float, float], ...] = (),
+    controller_gaps: tuple[tuple[float, float], ...] = (),
+    seed: int = 11,
+) -> Saved:
+    rng = random.Random(seed)
+    end_s = event_time_s(EVENTS) + 3.0
+    device = Device(cam_clock, lan_link, random.Random(rng.random()), BASE_S - 3.0, end_s)
+
+    frames, raw_stamp_s = [], {}
+    for k in range(EVENTS):
+        if k in cam_drop:
+            continue
+        capture_pc_ns = round((event_time_s(k) + CAM_PIPELINE_S) * S)
+        # Delivery jitter stays under the event period so frames arrive in capture order.
+        delay_s = rng.uniform(0.02, 0.2)
+        stamp_us = round(cam_clock.read_ns(capture_pc_ns) / 1000)
+        raw_stamp_s[k] = stamp_us / 1e6
+        frames.append(
+            ReceivedFrame(
+                stream_id=16,
+                image=np.full((48, 64, 3), k, dtype=np.uint8),
+                receive_time_ns=capture_pc_ns + round(delay_s * S),
+                transport_timestamp_us=0,
+                user_timestamp_us=stamp_us,
+                frame_id=k,
+                user_data=None,
+            )
+        )
+    receiver = SimReceiver(frames, device)
+    stream = p.LiveKitCameraStream(
+        stream_id=16,
+        name=CAM,
+        url="wss://lk",
+        room="r",
+        publisher="o",
+        track="t",
+        timestamp_basis=p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US,
+    )
+
+    config = ServiceConfig(
+        output_root=tmp_path / "out",
+        numeric_sources=(PICO_CONTROLLER_SPEC, MANUS_GLOVE_SPEC),
+        video_sources=(VideoSourceSpec(CAM, 64, 48, 4.0, intrinsics=False),),
+        qc=QcConfig(required_sources=(PICO_CONTROLLER_SOURCE, MANUS_GLOVE_SOURCE, CAM)),
+        queue_capacity=4096,
+    )
+    service = RecordingService(config)
+    try:
+        await service.open_session()
+        episode = await service.start_episode("shared-truth")
+        submitted_k: list[int] = []
+
+        def submit(sample):
+            if sample.source == CAM:
+                submitted_k.append(int(sample.image[0, 0, 0]))
+            return service.submit_sample(episode.episode_id, sample)
+
+        ingress = RecordingIngress(submit=submit, queue_capacity=4096, full_retry_deadline_seconds=5.0)
+        await ingress.start()
+        feed = LiveKitRecordingFeed(receiver, [stream], ingress, {16: CAM}, max_uncertainty_ns=BUDGET_NS)
+        feed.start()
+        for _ in range(5000):
+            await asyncio.sleep(0)
+            if feed.failure:
+                break
+        await feed.stop()
+
+        for t in _poll_grid(GLOVE_POLL_S, GLOVE_PHASE_S, glove_gaps):
+            assert ingress.offer(_tracking_frame(t, glove_event=latest_event_at(t), controller_event=None))
+        for t in _poll_grid(CONTROLLER_POLL_S, CONTROLLER_PHASE_S, controller_gaps):
+            assert ingress.offer(_tracking_frame(t, glove_event=None, controller_event=latest_event_at(t)))
+        assert await ingress.stop()
+        assert ingress.failure is None, ingress.failure
+        result = await service.stop_episode(episode.episode_id)
+    finally:
+        closed = await service.close()
+    assert closed.released
+
+    group = zarr.open_group(str(result.final_path), mode="r")
+    glove_k, controller_k = [], []
+    for row in group[MANUS_GLOVE_SOURCE]["left_hand_pose"][:]:
+        # Wrist-relative distance of the tagged joint (slot 9): rotation-invariant, so the conversion keeps it.
+        glove_k.append(round((np.linalg.norm(row[9, :3, 3]) - GLOVE_EVENT_BASE_M) / GLOVE_EVENT_STEP_M))
+    for trigger in group[PICO_CONTROLLER_SOURCE]["left_trigger"][:]:
+        controller_k.append(round(float(trigger) * 64))
+    camera_t = group[CAM]["capture_time"][:]
+    assert len(camera_t) == len(submitted_k)
+    return Saved(
+        camera_t=camera_t,
+        camera_k=submitted_k,
+        camera_unc_s=[m.uncertainty_ns / S for m in receiver.clock_sync.used[: len(submitted_k)] if m is not None],
+        glove_t=group[MANUS_GLOVE_SOURCE]["capture_time"][:],
+        glove_k=np.array(glove_k),
+        controller_t=group[PICO_CONTROLLER_SOURCE]["capture_time"][:],
+        controller_k=np.array(controller_k),
+        feed_failure=feed.failure,
+        raw_cam_stamp_s=raw_stamp_s,
+    )
+
+
+def first_poll_showing(times: np.ndarray, events: np.ndarray) -> dict[int, float]:
+    """Saved time of the first row that shows each event: when the host first saw it."""
+    first: dict[int, float] = {}
+    for t, k in zip(times, events):
+        first.setdefault(int(k), float(t))
+    return first
+
+
+def default_cam_clock() -> DeviceClock:
+    return DeviceClock(3_200_000_000_000, 35.0)  # boots 3200 s ahead of the PC, 35 ppm fast
+
+
+def assert_saved_artifacts_agree_with_truth(saved: Saved, *, observed_by_camera: set[int]) -> None:
+    glove_first = first_poll_showing(saved.glove_t, saved.glove_k)
+    controller_first = first_poll_showing(saved.controller_t, saved.controller_k)
+    cam_by_k = dict(zip(saved.camera_k, saved.camera_t))
+    unc_by_k = dict(zip(saved.camera_k, saved.camera_unc_s))
+    assert set(cam_by_k) == observed_by_camera
+
+    # Host-polled sources: the saved time IS the poll time, on the poll grid and never the event time.
+    grids = {
+        "glove": (saved.glove_t, GLOVE_POLL_S, GLOVE_PHASE_S),
+        "controller": (saved.controller_t, CONTROLLER_POLL_S, CONTROLLER_PHASE_S),
+    }
+    for name, (times, period_s, phase_s) in grids.items():
+        on_grid = (times - BASE_S - phase_s) / period_s
+        assert np.allclose(on_grid, np.round(on_grid), atol=1e-6), name
+        assert np.all(np.diff(times) > 0), name
+    for k, poll_s in glove_first.items():
+        assert 0 <= poll_s - event_time_s(k)  # never before the event
+    for k, poll_s in controller_first.items():
+        assert 0 <= poll_s - event_time_s(k)
+
+    paired = 0
+    for k, cam_s in cam_by_k.items():
+        truth_s, unc_s = event_time_s(k), unc_by_k[k]
+        # Camera against truth: the stated pipeline delay, within the declared uncertainty of its mapping.
+        assert abs(cam_s - (truth_s + CAM_PIPELINE_S)) <= unc_s + QUANTIZATION_S, (k, cam_s - truth_s)
+        for firsts, period_s in ((glove_first, GLOVE_POLL_S), (controller_first, CONTROLLER_POLL_S)):
+            if k not in firsts:
+                continue  # a stall swallowed every poll that would have first shown this event
+            poll_s = firsts[k]
+            poll_delay_s = poll_s - truth_s
+            # Relative time between two sources: known pipeline minus known poll delay, within the camera's
+            # declared uncertainty. The poll-time source adds none: its time is host time.
+            assert abs((cam_s - poll_s) - (CAM_PIPELINE_S - poll_delay_s)) <= unc_s + QUANTIZATION_S, k
+            # The same claim in the bound a reader can state without knowing the delays exactly.
+            assert abs(cam_s - poll_s) <= unc_s + CAM_PIPELINE_S + max(poll_delay_s, period_s) + QUANTIZATION_S
+            paired += 1
+    assert paired
+
+
+async def test_camera_events_line_up_with_host_polled_sources_in_the_saved_timestamps(tmp_path):
+    saved = await run_take(tmp_path, cam_clock=default_cam_clock())
+    assert saved.feed_failure == "cam: the LiveKit track was lost"
+    assert len(saved.camera_t) == EVENTS
+    assert set(saved.glove_k) == set(saved.controller_k) == set(range(EVENTS))
+    assert_saved_artifacts_agree_with_truth(saved, observed_by_camera=set(range(EVENTS)))
+
+    # The mapping did the work: the camera wrote a clock thousands of seconds from ours, and the saved time is not
+    # that, nor the stamp with the boot offset subtracted (35 ppm of drift since boot is ~0.17 s by now).
+    k = EVENTS - 1
+    assert abs(saved.raw_cam_stamp_s[k] - saved.camera_t[-1]) > 1000
+    naive_s = saved.raw_cam_stamp_s[k] - 3200.0
+    assert abs(naive_s - saved.camera_t[-1]) > 0.1
+
+
+async def test_dropped_camera_frames_and_poll_stalls_leave_the_remaining_saved_times_and_identities_correct(
+    tmp_path,
+):
+    cam_drop = frozenset({3, 4, 17})
+    glove_gap = (event_time_s(9) - 0.01, event_time_s(10) + 0.12)  # the host stalls over events 9 and 10
+    saved = await run_take(tmp_path, cam_clock=default_cam_clock(), cam_drop=cam_drop, glove_gaps=(glove_gap,))
+    assert saved.feed_failure == "cam: the LiveKit track was lost"
+    assert sorted(saved.camera_k) == sorted(set(range(EVENTS)) - cam_drop)
+    # Event 9 happened inside the stall and was superseded by event 10 before the first poll after it, so the
+    # glove never shows 9 on its own row: it is absent, not shifted onto another event's time.
+    assert 9 not in set(saved.glove_k)
+    assert set(saved.glove_k) == set(range(EVENTS)) - {9}
+    assert set(saved.controller_k) == set(range(EVENTS))
+    assert not np.any((saved.glove_t >= glove_gap[0]) & (saved.glove_t < glove_gap[1]))
+    assert_saved_artifacts_agree_with_truth(saved, observed_by_camera=set(range(EVENTS)) - cam_drop)
+    # The first poll to see event 10 comes after the stall, much later than the usual poll delay.
+    first = first_poll_showing(saved.glove_t, saved.glove_k)
+    assert first[10] - event_time_s(10) > GLOVE_POLL_S
+
+
+async def test_a_publisher_clock_jump_ends_the_camera_and_no_frame_after_it_is_recorded_under_a_new_epoch(
+    tmp_path,
+):
+    cam_clock = default_cam_clock()
+    step_s = event_time_s(8) + 0.05  # between events; the next periodic exchange comes about a second later
+    segment = cam_clock.segments[0]
+    step_ns = 40_000_000
+    cam_clock.add_segment(step_s, segment[1] + step_ns, segment[2])  # the publisher's clock jumps 40 ms
+    saved = await run_take(tmp_path, cam_clock=cam_clock)
+    assert saved.feed_failure is not None and "clock mapping jumped" in saved.feed_failure
+    assert 0 < len(saved.camera_t) < EVENTS
+    # Tracking is host time and is unaffected by the camera's failure: it still covers every event.
+    assert set(saved.glove_k) == set(saved.controller_k) == set(range(EVENTS))
+
+    # Saved camera rows are a prefix of the events: nothing after the failure is recorded, under the old
+    # mapping or a new one.
+    assert saved.camera_k == list(range(len(saved.camera_k)))
+    cam_by_k = dict(zip(saved.camera_k, saved.camera_t))
+    clean = {k for k in cam_by_k if event_time_s(k) + CAM_PIPELINE_S < step_s}
+    assert clean
+    assert_saved_artifacts_agree_with_truth_for(saved, clean)
+
+    # Known gap, pinned so it cannot change unseen: a frame captured after the jump but before the next
+    # exchange reveals it is stamped under the old mapping, so it carries the whole jump as error.
+    unseen = [k for k in cam_by_k if k not in clean]
+    assert unseen, "the jump should have been detected only after at least one frame was recorded"
+    for k in unseen:
+        error_s = cam_by_k[k] - (event_time_s(k) + CAM_PIPELINE_S)
+        assert error_s == pytest.approx(step_ns / 1e9, abs=0.006), (k, error_s)
+
+
+def assert_saved_artifacts_agree_with_truth_for(saved: Saved, ks: set[int]) -> None:
+    """The camera-against-truth and camera-against-poll checks, for the events in ``ks`` only."""
+    cam_by_k = dict(zip(saved.camera_k, saved.camera_t))
+    unc_by_k = dict(zip(saved.camera_k, saved.camera_unc_s))
+    glove_first = first_poll_showing(saved.glove_t, saved.glove_k)
+    for k in ks:
+        truth_s = event_time_s(k)
+        assert abs(cam_by_k[k] - (truth_s + CAM_PIPELINE_S)) <= unc_by_k[k] + QUANTIZATION_S, k
+        poll_s = glove_first[k]
+        assert abs((cam_by_k[k] - poll_s) - (CAM_PIPELINE_S - (poll_s - truth_s))) <= unc_by_k[k] + QUANTIZATION_S

From 486b6a50b7c3a12a49f389d2b865406e4cc9f39d Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 13:50:55 -0800
Subject: [PATCH 43/54] egocap: stop tracking test recordings output

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
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 delete mode 100644 examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/session.lock
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diff --git a/.gitignore b/.gitignore
index 39b59ea057..962256e912 100644
--- a/.gitignore
+++ b/.gitignore
@@ -95,3 +95,4 @@ tmp/
 !/examples/mujoco_xr/python/isaacteleop_examples/mujoco_xr/assets/follower/follower_arm.xml
 # Wheel SBOM and license evidence written by the collector in scripts/sbom/
 /sbom/
+examples/egocap/recordings/
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/episode_0.json
deleted file mode 100644
index 97dedfa092..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-104104_cdda26/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-104104_cdda26",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/session.lock b/examples/egocap/recordings/session_20261105-104104_cdda26/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-104104_cdda26/config.yaml b/examples/egocap/recordings/session_20261105-104104_cdda26/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_cdda26/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/episode_0.json
deleted file mode 100644
index fe6213b43c..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {
-    "head_human_camera": {
-      "accepted": 8,
-      "written": 8
-    },
-    "manus_glove": {
-      "accepted": 19,
-      "written": 19
-    },
-    "pico_controller": {
-      "accepted": 19,
-      "written": 19
-    }
-  },
-  "duration_seconds": 0.2997442810010398,
-  "episode_id": "session_20261105-104104_fba19c/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-104104_fba19c",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/session.lock b/examples/egocap/recordings/session_20261105-104104_fba19c/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/config.yaml b/examples/egocap/recordings/session_20261105-104104_fba19c/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera.mp4
deleted file mode 100644
index 1439780142..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/c/0
deleted file mode 100644
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/zarr.json
deleted file mode 100644
index b1e2193cea..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/head_human_camera/capture_time/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-  "shape": [
-    8
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
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deleted file mode 100644
index 9fa39812e9..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/manus_glove/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/a_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/a_button/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/b_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/capture_time/zarr.json
+++ /dev/null
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deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/head_pose/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_pose/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/left_trigger/zarr.json
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index 5ca9a10976..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  "shape": [
-    19,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/zarr.json
deleted file mode 100644
index ee45057e94..0000000000
--- a/examples/egocap/recordings/session_20261105-104104_fba19c/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
-  "attributes": {
-    "recording_episode_id": "session_20261105-104104_fba19c/episode_0",
-    "session_id": "session_20261105-104104_fba19c",
-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 8,
-    "episode_duration": 0.2997442810010398,
-    "recorded_at": "2026-11-05; 10-41-05",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
-    "capture_qc_issues": [],
-    "capture_qc_warnings": [],
-    "capture_qc_results": [],
-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-    "sources": [
-      {
-        "kind": "numeric",
-        "name": "pico_controller",
-        "fields": [
-          {
-            "name": "head_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
-        ]
-      },
-      {
-        "kind": "numeric",
-        "name": "manus_glove",
-        "fields": [
-          {
-            "name": "left_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          }
-        ]
-      },
-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/episode_0.json
deleted file mode 100644
index f606dbf089..0000000000
--- a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-105628_f3d7ef/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-105628_f3d7ef",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/session.lock b/examples/egocap/recordings/session_20261105-105628_f3d7ef/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-105628_f3d7ef/config.yaml b/examples/egocap/recordings/session_20261105-105628_f3d7ef/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-105628_f3d7ef/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/episode_0.json
deleted file mode 100644
index 9e3b1a9da6..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {
-    "head_human_camera": {
-      "accepted": 9,
-      "written": 9
-    },
-    "manus_glove": {
-      "accepted": 19,
-      "written": 19
-    },
-    "pico_controller": {
-      "accepted": 19,
-      "written": 19
-    }
-  },
-  "duration_seconds": 0.30130017399642384,
-  "episode_id": "session_20261105-105629_4348bd/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-105629_4348bd",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/session.lock b/examples/egocap/recordings/session_20261105-105629_4348bd/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/config.yaml b/examples/egocap/recordings/session_20261105-105629_4348bd/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera.mp4
deleted file mode 100644
index 2f25808c3c..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera.mp4
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/capture_time/zarr.json
deleted file mode 100644
index 21a70a889e..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/capture_time/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/receive_time/c/0
deleted file mode 100644
index 9bdc3d95838bd9727ca5fbc144add26ca55a936b..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/receive_time/zarr.json
deleted file mode 100644
index 21a70a889e..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/receive_time/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/head_human_camera/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/capture_time/c/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/capture_time/c/0
deleted file mode 100644
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GIT binary patch
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HcmV?d00001

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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/capture_time/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/capture_time/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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GIT binary patch
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index 9fa39812e9..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
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-    19,
-    25,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        25,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/manus_glove/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/a_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/a_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
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-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
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-    {
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-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/b_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
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-    {
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-      "configuration": {
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-        "checksum": false
-      }
-    }
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/c/0
deleted file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/capture_time/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/c/0/0/0
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/head_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_trigger/zarr.json
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index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/left_trigger/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/receive_time/zarr.json
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index 5ca9a10976..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  "shape": [
-    19,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/zarr.json
deleted file mode 100644
index b2754b2804..0000000000
--- a/examples/egocap/recordings/session_20261105-105629_4348bd/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
-  "attributes": {
-    "recording_episode_id": "session_20261105-105629_4348bd/episode_0",
-    "session_id": "session_20261105-105629_4348bd",
-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 9,
-    "episode_duration": 0.30130017399642384,
-    "recorded_at": "2026-11-05; 10-56-29",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
-    "capture_qc_issues": [],
-    "capture_qc_warnings": [],
-    "capture_qc_results": [],
-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-    "sources": [
-      {
-        "kind": "numeric",
-        "name": "pico_controller",
-        "fields": [
-          {
-            "name": "head_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
-        ]
-      },
-      {
-        "kind": "numeric",
-        "name": "manus_glove",
-        "fields": [
-          {
-            "name": "left_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          }
-        ]
-      },
-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/episode_0.json
deleted file mode 100644
index 043bddcc1e..0000000000
--- a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-105807_51b17e/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-105807_51b17e",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/session.lock b/examples/egocap/recordings/session_20261105-105807_51b17e/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-105807_51b17e/config.yaml b/examples/egocap/recordings/session_20261105-105807_51b17e/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-105807_51b17e/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/episode_0.json
deleted file mode 100644
index e51640db61..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {
-    "head_human_camera": {
-      "accepted": 10,
-      "written": 10
-    },
-    "manus_glove": {
-      "accepted": 20,
-      "written": 20
-    },
-    "pico_controller": {
-      "accepted": 20,
-      "written": 20
-    }
-  },
-  "duration_seconds": 0.3169957659993088,
-  "episode_id": "session_20261105-105808_e6f00b/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-105808_e6f00b",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
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-  ],
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deleted file mode 100644
index 108ee6fe71..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera.mp4
deleted file mode 100644
index 75cac179fe..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera.mp4
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index e60323c1da..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/head_human_camera/zarr.json
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deleted file mode 100644
index 9136b37345..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/c/0
deleted file mode 100644
index 902687286c6b9654cd14fb6c6cbf210f2d026e80..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/zarr.json
deleted file mode 100644
index 01eed0783d..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
deleted file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index 9136b37345..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/manus_glove/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/a_button/zarr.json
deleted file mode 100644
index 681c9fa756..0000000000
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+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 681c9fa756..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/b_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/head_pose/zarr.json
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deleted file mode 100644
index 7ee1738c27..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index 01eed0783d..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 7ee1738c27..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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-    4,
-    4
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-  "data_type": "float64",
-  "chunk_grid": {
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 01eed0783d..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
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-  "node_type": "array",
-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 681c9fa756..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 681c9fa756..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
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-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/zarr.json
deleted file mode 100644
index 27e9959c5a..0000000000
--- a/examples/egocap/recordings/session_20261105-105808_e6f00b/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
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-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 10,
-    "episode_duration": 0.3169957659993088,
-    "recorded_at": "2026-11-05; 10-58-09",
-    "integrity_check_passed": true,
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-    "domain_checks": "SKIPPED",
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-    "capture_qc_warnings": [],
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-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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-          {
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-              4
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-            "dtype": "float64",
-            "shape": [
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-              4
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-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
-        ]
-      },
-      {
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-        "name": "manus_glove",
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-        ]
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-      {
-        "kind": "video",
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-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
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-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/episode_0.json
deleted file mode 100644
index 0683fbfd89..0000000000
--- a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-105917_cec552/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-105917_cec552",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
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-          "name": "right_hand_pose",
-          "shape": [
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-            4,
-            4
-          ]
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-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/.recording/session.lock b/examples/egocap/recordings/session_20261105-105917_cec552/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-105917_cec552/config.yaml b/examples/egocap/recordings/session_20261105-105917_cec552/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-105917_cec552/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-105918_996b66/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-105918_996b66/.recording/episode_0.json
deleted file mode 100644
index b455780160..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
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-  "capture_quality": null,
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-      "written": 10
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-    "manus_glove": {
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-      "written": 20
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-      "accepted": 20,
-      "written": 20
-    }
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-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-105918_996b66",
-  "sources": [
-    {
-      "fields": [
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-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
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-            4
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-          "shape": [
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-        },
-        {
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-          "shape": [
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-      "name": "manus_glove"
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-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/.recording/session.lock b/examples/egocap/recordings/session_20261105-105918_996b66/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/config.yaml b/examples/egocap/recordings/session_20261105-105918_996b66/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera.mp4
deleted file mode 100644
index 584984578b..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/zarr.json
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--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/head_human_camera/zarr.json
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index 9136b37345..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index 9136b37345..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/zarr.json
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index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/manus_glove/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/a_button/zarr.json
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index 681c9fa756..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 681c9fa756..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/b_button/zarr.json
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@@ -1,37 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/zarr.json
deleted file mode 100644
index 7ee1738c27..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/head_pose/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/zarr.json
deleted file mode 100644
index 7ee1738c27..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index 01eed0783d..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/left_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/receive_time/c/0
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/receive_time/zarr.json
deleted file mode 100644
index 01eed0783d..0000000000
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@@ -1,40 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/c/0/0/0
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 7ee1738c27..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        4,
-        4
-      ]
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-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
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-        "checksum": false
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-    }
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 01eed0783d..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
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-    }
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-    "name": "default",
-    "configuration": {
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-  "zarr_format": 3,
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-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 681c9fa756..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-    "name": "regular",
-    "configuration": {
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 681c9fa756..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-    "configuration": {
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/zarr.json
deleted file mode 100644
index b7a47c7629..0000000000
--- a/examples/egocap/recordings/session_20261105-105918_996b66/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
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-              4,
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-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/episode_0.json
deleted file mode 100644
index a2bafa50a3..0000000000
--- a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-110043_293c26/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-110043_293c26",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
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-          "name": "y_button",
-          "shape": []
-        }
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-            25,
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-            4
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-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
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-      "name": "head_human_camera",
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-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/.recording/session.lock b/examples/egocap/recordings/session_20261105-110043_293c26/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-110043_293c26/config.yaml b/examples/egocap/recordings/session_20261105-110043_293c26/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-110043_293c26/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/episode_0.json
deleted file mode 100644
index 6622e85fef..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/episode_0.json
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@@ -1,180 +0,0 @@
-{
-  "assignment": null,
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-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
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-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
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-  "schema_version": 3,
-  "session_id": "session_20261105-110044_dcb9a9",
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-  "storage_phase": "FINALIZED",
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/session.lock b/examples/egocap/recordings/session_20261105-110044_dcb9a9/.recording/session.lock
deleted file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/config.yaml b/examples/egocap/recordings/session_20261105-110044_dcb9a9/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera.mp4
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index ce39d4b62c..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/capture_time/zarr.json
deleted file mode 100644
index 00d1a42486..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/receive_time/zarr.json
deleted file mode 100644
index 00d1a42486..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/head_human_camera/zarr.json
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-{
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/capture_time/c/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/capture_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/capture_time/zarr.json
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--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/left_hand_pose/zarr.json
deleted file mode 100644
index d83bd6edc3..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/left_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
-  "shape": [
-    18,
-    25,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        25,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/c/0
deleted file mode 100644
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/zarr.json
deleted file mode 100644
index f0e1f4a377..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/receive_time/zarr.json
+++ /dev/null
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-{
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index d83bd6edc3..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/manus_glove/zarr.json
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index d1f97dad69..0000000000
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index 17eda0f09b..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/capture_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/head_pose/zarr.json
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index d771b6370e..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_pose/zarr.json
deleted file mode 100644
index d771b6370e..0000000000
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+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index f0e1f4a377..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/left_trigger/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index d771b6370e..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index f0e1f4a377..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/zarr.json
deleted file mode 100644
index 3e849af4f3..0000000000
--- a/examples/egocap/recordings/session_20261105-110044_dcb9a9/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
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-    "session_id": "session_20261105-110044_dcb9a9",
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-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
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-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 6,
-    "episode_duration": 0.28324937100114767,
-    "recorded_at": "2026-11-05; 11-00-44",
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-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
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-        "name": "pico_controller",
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-            "name": "head_pose",
-            "dtype": "float64",
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-              4
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-            "name": "left_pose",
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-            "shape": [
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-              4
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-          {
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-            "shape": [
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-          {
-            "name": "left_trigger",
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-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
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-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/episode_0.json
deleted file mode 100644
index 8c2d2be323..0000000000
--- a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
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-  "capture_quality": null,
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-  "counts": {},
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-  "episode_id": "session_20261105-110147_b5e53b/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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-  "schema_version": 3,
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/session.lock b/examples/egocap/recordings/session_20261105-110147_b5e53b/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-110147_b5e53b/config.yaml b/examples/egocap/recordings/session_20261105-110147_b5e53b/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-110147_b5e53b/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110148_147979/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110148_147979/.recording/episode_0.json
deleted file mode 100644
index 1e6a11433c..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
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-  "capture_quality": null,
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-      "written": 6
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-      "written": 19
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-  "episode_id": "session_20261105-110148_147979/episode_0",
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-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
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-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
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-    "issues": [],
-    "outcome": "PASSED",
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-      "kind": "numeric",
-      "name": "pico_controller"
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-          "shape": [
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-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/.recording/session.lock b/examples/egocap/recordings/session_20261105-110148_147979/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/config.yaml b/examples/egocap/recordings/session_20261105-110148_147979/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera.mp4
deleted file mode 100644
index ce39d4b62c..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/head_human_camera/zarr.json
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deleted file mode 100644
index 9fa39812e9..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/receive_time/zarr.json
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-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
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deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/b_button/zarr.json
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index 5da83687dc..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/head_pose/zarr.json
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index 52064c3cc6..0000000000
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index 52064c3cc6..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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-    4
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-  "data_type": "float64",
-  "chunk_grid": {
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-      "configuration": {
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
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-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-110148_147979/episode_0/zarr.json
deleted file mode 100644
index c5b7c0d31b..0000000000
--- a/examples/egocap/recordings/session_20261105-110148_147979/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
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-    "recording_episode_id": "session_20261105-110148_147979/episode_0",
-    "session_id": "session_20261105-110148_147979",
-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 6,
-    "episode_duration": 0.29897530700691277,
-    "recorded_at": "2026-11-05; 11-01-49",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
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-    "capture_qc_warnings": [],
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-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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-        "kind": "numeric",
-        "name": "pico_controller",
-        "fields": [
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-            "name": "head_pose",
-            "dtype": "float64",
-            "shape": [
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-              4
-            ]
-          },
-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
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-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
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-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
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-      {
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-        "name": "manus_glove",
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-            "dtype": "float64",
-            "shape": [
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-              4
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-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/episode_0.json
deleted file mode 100644
index 5a9b80d5a8..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-110408_0a5805/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-110408_0a5805",
-  "sources": [
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-        {
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-        {
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-    },
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-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
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diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/session.lock b/examples/egocap/recordings/session_20261105-110408_0a5805/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-110408_0a5805/config.yaml b/examples/egocap/recordings/session_20261105-110408_0a5805/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_0a5805/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/episode_0.json
deleted file mode 100644
index 9813cd2e82..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
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-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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-      "written": 7
-    },
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-      "written": 19
-    },
-    "pico_controller": {
-      "accepted": 19,
-      "written": 19
-    }
-  },
-  "duration_seconds": 0.2990176439998322,
-  "episode_id": "session_20261105-110408_a238ed/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-110408_a238ed",
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-          "name": "head_pose",
-          "shape": [
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-          ]
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-          ]
-        },
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-        },
-        {
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-          "shape": []
-        },
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-        },
-        {
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-          "name": "a_button",
-          "shape": []
-        },
-        {
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-        {
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-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
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-      "name": "pico_controller"
-    },
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-            4,
-            4
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-      "kind": "numeric",
-      "name": "manus_glove"
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-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/session.lock b/examples/egocap/recordings/session_20261105-110408_a238ed/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/config.yaml b/examples/egocap/recordings/session_20261105-110408_a238ed/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera.mp4
deleted file mode 100644
index 6738ff7219..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/head_human_camera/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/left_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/left_hand_pose/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/c/0
deleted file mode 100644
index ae1f5f2cebdb86728cb3ef787900f603e821ff79..0000000000000000000000000000000000000000
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/receive_time/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
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+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
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deleted file mode 100644
index 9fa39812e9..0000000000
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deleted file mode 100644
index d1f97dad69..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/b_button/zarr.json
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index 5da83687dc..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/capture_time/zarr.json
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index 52064c3cc6..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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-    4
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-  "data_type": "float64",
-  "chunk_grid": {
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-    "name": "regular",
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-      "chunk_shape": [
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-  "node_type": "array",
-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
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-  "node_type": "group"
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/zarr.json
deleted file mode 100644
index 14fc4cf5be..0000000000
--- a/examples/egocap/recordings/session_20261105-110408_a238ed/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
-  "attributes": {
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-    "session_id": "session_20261105-110408_a238ed",
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-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 7,
-    "episode_duration": 0.2990176439998322,
-    "recorded_at": "2026-11-05; 11-04-09",
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-    "integrity_check_issues": [],
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-        "name": "pico_controller",
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-            "dtype": "float64",
-            "shape": [
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-              4
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-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
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-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
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-              4
-            ]
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-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
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-        ]
-      },
-      {
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-        "name": "manus_glove",
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-            "dtype": "float64",
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-              4,
-              4
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-          {
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-            "shape": [
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-              4
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-          }
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-      {
-        "kind": "video",
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-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/episode_0.json
deleted file mode 100644
index 3b6989373b..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-132134_8f2945/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
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-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
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-  "schema_version": 3,
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-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
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diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/session.lock b/examples/egocap/recordings/session_20261105-132134_8f2945/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-132134_8f2945/config.yaml b/examples/egocap/recordings/session_20261105-132134_8f2945/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_8f2945/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/episode_0.json
deleted file mode 100644
index 1796993340..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
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-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
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-        "measurements": {},
-        "name": "required_sources_nonempty",
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-      {
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-        "issues": [],
-        "measurements": {},
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-      {
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-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
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-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
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-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
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-  "storage_phase": "FINALIZED",
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/session.lock b/examples/egocap/recordings/session_20261105-132134_ab10d5/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/config.yaml b/examples/egocap/recordings/session_20261105-132134_ab10d5/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera.mp4
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index 2f25808c3c..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/head_human_camera/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/left_hand_pose/zarr.json
deleted file mode 100644
index d83bd6edc3..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index d83bd6edc3..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
-  "shape": [
-    18,
-    25,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        25,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/manus_glove/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/a_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/a_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    18
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/b_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/capture_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/head_pose/zarr.json
deleted file mode 100644
index d771b6370e..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_pose/zarr.json
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index d771b6370e..0000000000
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+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index f0e1f4a377..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/left_trigger/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/receive_time/zarr.json
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index f0e1f4a377..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index d771b6370e..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  "shape": [
-    18,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index f0e1f4a377..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-  "shape": [
-    18
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    18
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    18
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/zarr.json
deleted file mode 100644
index 7b95a1505c..0000000000
--- a/examples/egocap/recordings/session_20261105-132134_ab10d5/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
-  "attributes": {
-    "recording_episode_id": "session_20261105-132134_ab10d5/episode_0",
-    "session_id": "session_20261105-132134_ab10d5",
-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 9,
-    "episode_duration": 0.2835940190052497,
-    "recorded_at": "2026-11-05; 13-21-35",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
-    "capture_qc_issues": [],
-    "capture_qc_warnings": [],
-    "capture_qc_results": [],
-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-    "sources": [
-      {
-        "kind": "numeric",
-        "name": "pico_controller",
-        "fields": [
-          {
-            "name": "head_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
-        ]
-      },
-      {
-        "kind": "numeric",
-        "name": "manus_glove",
-        "fields": [
-          {
-            "name": "left_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          }
-        ]
-      },
-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/episode_0.json
deleted file mode 100644
index 5517d97fec..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-132833_2b4981/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-132833_2b4981",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/session.lock b/examples/egocap/recordings/session_20261105-132833_2b4981/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-132833_2b4981/config.yaml b/examples/egocap/recordings/session_20261105-132833_2b4981/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_2b4981/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/episode_0.json
deleted file mode 100644
index c8a706d9c5..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {
-    "head_human_camera": {
-      "accepted": 10,
-      "written": 10
-    },
-    "manus_glove": {
-      "accepted": 23,
-      "written": 23
-    },
-    "pico_controller": {
-      "accepted": 23,
-      "written": 23
-    }
-  },
-  "duration_seconds": 0.3667514819971984,
-  "episode_id": "session_20261105-132833_a079f3/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-132833_a079f3",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
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deleted file mode 100644
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deleted file mode 100644
index 386c4d3aef..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/manus_glove/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
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deleted file mode 100644
index a293cf233d..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/a_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index a293cf233d..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/b_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
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deleted file mode 100644
index 7619923453..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/head_pose/zarr.json
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deleted file mode 100644
index 7619923453..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_pose/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index 601d628613..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 7619923453..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 601d628613..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index a293cf233d..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index a293cf233d..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/pico_controller/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/zarr.json
deleted file mode 100644
index 3877496d0a..0000000000
--- a/examples/egocap/recordings/session_20261105-132833_a079f3/episode_0/zarr.json
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-            "shape": []
-          },
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-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
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-            "dtype": "bool",
-            "shape": []
-          },
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-      {
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-            "dtype": "float64",
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-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_hand_pose",
-            "dtype": "float64",
-            "shape": [
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-              4,
-              4
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-          }
-        ]
-      },
-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132909_314040/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132909_314040/.recording/episode_0.json
deleted file mode 100644
index 2f9b9ed060..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
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-      "written": 7
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-      "written": 19
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-  "episode_id": "session_20261105-132909_314040/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
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-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
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-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
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-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/.recording/session.lock b/examples/egocap/recordings/session_20261105-132909_314040/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/config.yaml b/examples/egocap/recordings/session_20261105-132909_314040/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera.mp4
deleted file mode 100644
index 6738ff7219..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/head_human_camera/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/left_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/left_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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-        25,
-        4,
-        4
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-    }
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-  "chunk_key_encoding": {
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-    "configuration": {
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-  "fill_value": 0.0,
-  "codecs": [
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-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/c/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/c/0
deleted file mode 100644
index b426da42b850f64cb2bd5e8321ed05e9a81ea407..0000000000000000000000000000000000000000
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/receive_time/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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-  "chunk_grid": {
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-  "chunk_key_encoding": {
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-    "configuration": {
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-  "fill_value": 0.0,
-  "codecs": [
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-      "configuration": {
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-      }
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-      "configuration": {
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-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/c/0/0/0/0 b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/c/0/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/manus_glove/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/a_button/zarr.json
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index 5da83687dc..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/b_button/zarr.json
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index 5da83687dc..0000000000
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@@ -1,37 +0,0 @@
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index 52064c3cc6..0000000000
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deleted file mode 100644
index 52064c3cc6..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/left_trigger/zarr.json
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index 5ca9a10976..0000000000
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deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
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-{
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
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+++ /dev/null
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-{
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diff --git a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/y_button/zarr.json
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index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_314040/episode_0/pico_controller/zarr.json
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index a2734b3f2f..0000000000
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-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/episode_0.json
deleted file mode 100644
index 6d9804fea1..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-132909_c991b8/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-132909_c991b8",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
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-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
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-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
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-            4,
-            4
-          ]
-        }
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-      "name": "manus_glove"
-    },
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-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/session.lock b/examples/egocap/recordings/session_20261105-132909_c991b8/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-132909_c991b8/config.yaml b/examples/egocap/recordings/session_20261105-132909_c991b8/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-132909_c991b8/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133027_137e72/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133027_137e72/.recording/episode_0.json
deleted file mode 100644
index d44800ff50..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/.recording/episode_0.json
+++ /dev/null
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-{
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-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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-      "accepted": 8,
-      "written": 8
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-    "manus_glove": {
-      "accepted": 19,
-      "written": 19
-    },
-    "pico_controller": {
-      "accepted": 19,
-      "written": 19
-    }
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-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
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-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
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-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-133027_137e72",
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-          "shape": [
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-      "encoder_options": null,
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-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
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-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/.recording/session.lock b/examples/egocap/recordings/session_20261105-133027_137e72/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/config.yaml b/examples/egocap/recordings/session_20261105-133027_137e72/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera.mp4
deleted file mode 100644
index a9404973e8..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/head_human_camera/zarr.json
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deleted file mode 100644
index 9fa39812e9..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/receive_time/zarr.json
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deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/zarr.json
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index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/manus_glove/zarr.json
+++ /dev/null
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index 5da83687dc..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/b_button/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/head_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_pose/c/0/0/0
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deleted file mode 100644
index 52064c3cc6..0000000000
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+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/left_trigger/zarr.json
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@@ -1,40 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/zarr.json
deleted file mode 100644
index d7c7ae4dc7..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_137e72/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
-  "attributes": {
-    "recording_episode_id": "session_20261105-133027_137e72/episode_0",
-    "session_id": "session_20261105-133027_137e72",
-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 8,
-    "episode_duration": 0.30062932500004536,
-    "recorded_at": "2026-11-05; 13-30-28",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
-    "capture_qc_issues": [],
-    "capture_qc_warnings": [],
-    "capture_qc_results": [],
-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-    "sources": [
-      {
-        "kind": "numeric",
-        "name": "pico_controller",
-        "fields": [
-          {
-            "name": "head_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
-        ]
-      },
-      {
-        "kind": "numeric",
-        "name": "manus_glove",
-        "fields": [
-          {
-            "name": "left_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          }
-        ]
-      },
-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/episode_0.json
deleted file mode 100644
index 7aa58d2725..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-133027_bd644d/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-133027_bd644d",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/session.lock b/examples/egocap/recordings/session_20261105-133027_bd644d/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-133027_bd644d/config.yaml b/examples/egocap/recordings/session_20261105-133027_bd644d/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-133027_bd644d/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/episode_0.json
deleted file mode 100644
index 25e09a03f6..0000000000
--- a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-133711_adc7b3/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-133711_adc7b3",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/session.lock b/examples/egocap/recordings/session_20261105-133711_adc7b3/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-133711_adc7b3/config.yaml b/examples/egocap/recordings/session_20261105-133711_adc7b3/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-133711_adc7b3/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/episode_0.json
deleted file mode 100644
index 7ff4ec214d..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {
-    "head_human_camera": {
-      "accepted": 9,
-      "written": 9
-    },
-    "manus_glove": {
-      "accepted": 19,
-      "written": 19
-    },
-    "pico_controller": {
-      "accepted": 19,
-      "written": 19
-    }
-  },
-  "duration_seconds": 0.2990439159984817,
-  "episode_id": "session_20261105-133712_9e71b2/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-133712_9e71b2",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/session.lock b/examples/egocap/recordings/session_20261105-133712_9e71b2/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/config.yaml b/examples/egocap/recordings/session_20261105-133712_9e71b2/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera.mp4
deleted file mode 100644
index 7307a8fb95..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/head_human_camera.mp4
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
-  "shape": [
-    19,
-    25,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        25,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/manus_glove/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/a_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
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+++ /dev/null
@@ -1,37 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/b_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/capture_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/head_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/left_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/receive_time/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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-    4,
-    4
-  ],
-  "data_type": "float64",
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-        4,
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-        "checksum": false
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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-    19
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-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
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-  "chunk_key_encoding": {
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-    "configuration": {
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-      "configuration": {
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-        "checksum": false
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
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-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/zarr.json
deleted file mode 100644
index 77bac6acce..0000000000
--- a/examples/egocap/recordings/session_20261105-133712_9e71b2/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
-  "attributes": {
-    "recording_episode_id": "session_20261105-133712_9e71b2/episode_0",
-    "session_id": "session_20261105-133712_9e71b2",
-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 9,
-    "episode_duration": 0.2990439159984817,
-    "recorded_at": "2026-11-05; 13-37-13",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
-    "capture_qc_issues": [],
-    "capture_qc_warnings": [],
-    "capture_qc_results": [],
-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-    "sources": [
-      {
-        "kind": "numeric",
-        "name": "pico_controller",
-        "fields": [
-          {
-            "name": "head_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
-        ]
-      },
-      {
-        "kind": "numeric",
-        "name": "manus_glove",
-        "fields": [
-          {
-            "name": "left_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          }
-        ]
-      },
-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/episode_0.json
deleted file mode 100644
index 9b6f15545d..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {
-    "head_human_camera": {
-      "accepted": 7,
-      "written": 7
-    },
-    "manus_glove": {
-      "accepted": 18,
-      "written": 18
-    },
-    "pico_controller": {
-      "accepted": 18,
-      "written": 18
-    }
-  },
-  "duration_seconds": 0.28219503000582336,
-  "episode_id": "session_20261105-133756_40d845/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-133756_40d845",
-  "sources": [
-    {
-      "fields": [
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-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
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-            4
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-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
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-      "name": "pico_controller"
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-    {
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-    {
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-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
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-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/.recording/session.lock b/examples/egocap/recordings/session_20261105-133756_40d845/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/config.yaml b/examples/egocap/recordings/session_20261105-133756_40d845/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera.mp4
deleted file mode 100644
index 6738ff7219..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/head_human_camera.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
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index d83bd6edc3..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index d83bd6edc3..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/zarr.json
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index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/manus_glove/zarr.json
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/a_button/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/b_button/zarr.json
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index 17eda0f09b..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/head_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/head_pose/zarr.json
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index d771b6370e..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/c/0/0/0
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/zarr.json
deleted file mode 100644
index d771b6370e..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_pose/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/left_trigger/zarr.json
deleted file mode 100644
index f0e1f4a377..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index d771b6370e..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
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-    4
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-  "data_type": "float64",
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index f0e1f4a377..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 17eda0f09b..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/zarr.json
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index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/pico_controller/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/zarr.json
deleted file mode 100644
index 9e2b515691..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_40d845/episode_0/zarr.json
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-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 7,
-    "episode_duration": 0.28219503000582336,
-    "recorded_at": "2026-11-05; 13-37-57",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
-    "capture_qc_issues": [],
-    "capture_qc_warnings": [],
-    "capture_qc_results": [],
-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-    "sources": [
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-        "kind": "numeric",
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-            ]
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-            ]
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-              4
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-            "dtype": "float64",
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-          },
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-            "dtype": "float64",
-            "shape": []
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-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
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-            "dtype": "bool",
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-          {
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-            "dtype": "bool",
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-            "dtype": "float64",
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-              25,
-              4,
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-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/episode_0.json
deleted file mode 100644
index d38506d69d..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
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-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-133756_901aef",
-  "sources": [
-    {
-      "fields": [
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-          "dtype": "float64",
-          "name": "head_pose",
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-            4
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-          "shape": [
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-            4
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-          "name": "right_trigger",
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-        {
-          "dtype": "bool",
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-          "name": "b_button",
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-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
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-            4,
-            4
-          ]
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-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/.recording/session.lock b/examples/egocap/recordings/session_20261105-133756_901aef/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-133756_901aef/config.yaml b/examples/egocap/recordings/session_20261105-133756_901aef/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-133756_901aef/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/episode_0.json
deleted file mode 100644
index d170e8b99c..0000000000
--- a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/episode_0.json
+++ /dev/null
@@ -1,119 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {},
-  "duration_seconds": 0.0,
-  "episode_id": "session_20261105-134926_44f8c6/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": null,
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": null,
-  "quality": null,
-  "schema_version": 3,
-  "session_id": "session_20261105-134926_44f8c6",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "float64",
-          "name": "right_trigger",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
-      ],
-      "kind": "numeric",
-      "name": "pico_controller"
-    },
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "left_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
-          "shape": [
-            25,
-            4,
-            4
-          ]
-        }
-      ],
-      "kind": "numeric",
-      "name": "manus_glove"
-    },
-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "DISCARDED",
-  "studio": null,
-  "task": "Pour water."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/session.lock b/examples/egocap/recordings/session_20261105-134926_44f8c6/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-134926_44f8c6/config.yaml b/examples/egocap/recordings/session_20261105-134926_44f8c6/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-134926_44f8c6/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/.recording/calibration_assets.json b/examples/egocap/recordings/session_20261105-134927_267125/.recording/calibration_assets.json
deleted file mode 100644
index b9674043a2..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/.recording/calibration_assets.json
+++ /dev/null
@@ -1,7 +0,0 @@
-{
-  "head_camera_extrinsics.json": null,
-  "head_camera_intrinsics.json": null,
-  "left_wrist_camera_intrinsics.json": null,
-  "right_wrist_camera_intrinsics.json": null,
-  "wrist_calibration_offsets.json": null
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/.recording/episode_0.json b/examples/egocap/recordings/session_20261105-134927_267125/.recording/episode_0.json
deleted file mode 100644
index 22247a44a8..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/.recording/episode_0.json
+++ /dev/null
@@ -1,180 +0,0 @@
-{
-  "assignment": null,
-  "capture_policy": null,
-  "capture_quality": null,
-  "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "counts": {
-    "head_human_camera": {
-      "accepted": 9,
-      "written": 9
-    },
-    "manus_glove": {
-      "accepted": 19,
-      "written": 19
-    },
-    "pico_controller": {
-      "accepted": 19,
-      "written": 19
-    }
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-  "duration_seconds": 0.3008718260025489,
-  "episode_id": "session_20261105-134927_267125/episode_0",
-  "episode_index": 0,
-  "final_path": "episode_0",
-  "finalization": "KEEP",
-  "issues": [],
-  "layout_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-  "operator": "<tester>",
-  "pending_path": "episode_0.pending",
-  "qc_decision": "SKIPPED",
-  "quality": {
-    "check_results": [
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "schema_readable",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "required_sources_nonempty",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "accepted_equals_written",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "timestamps_valid",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "numeric_values_finite",
-        "outcome": "PASSED"
-      },
-      {
-        "evidence": [],
-        "issues": [],
-        "measurements": {},
-        "name": "video_readable_and_aligned",
-        "outcome": "PASSED"
-      }
-    ],
-    "issues": [],
-    "outcome": "PASSED",
-    "warnings": []
-  },
-  "schema_version": 3,
-  "session_id": "session_20261105-134927_267125",
-  "sources": [
-    {
-      "fields": [
-        {
-          "dtype": "float64",
-          "name": "head_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "left_pose",
-          "shape": [
-            4,
-            4
-          ]
-        },
-        {
-          "dtype": "float64",
-          "name": "right_pose",
-          "shape": [
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-            4
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-        },
-        {
-          "dtype": "float64",
-          "name": "left_trigger",
-          "shape": []
-        },
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-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "a_button",
-          "shape": []
-        },
-        {
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-          "name": "b_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "x_button",
-          "shape": []
-        },
-        {
-          "dtype": "bool",
-          "name": "y_button",
-          "shape": []
-        }
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-      "name": "pico_controller"
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-          "shape": [
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-            4,
-            4
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-        {
-          "dtype": "float64",
-          "name": "right_hand_pose",
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-      "kind": "numeric",
-      "name": "manus_glove"
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-    {
-      "encoder": "ffmpeg_h264",
-      "encoder_options": null,
-      "fps": 30.0,
-      "height": 720,
-      "intrinsics": false,
-      "kind": "video",
-      "name": "head_human_camera",
-      "width": 1280
-    }
-  ],
-  "storage_phase": "FINALIZED",
-  "studio": null,
-  "task": "Pour water into the cup."
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/.recording/session.lock b/examples/egocap/recordings/session_20261105-134927_267125/.recording/session.lock
deleted file mode 100644
index e69de29bb2..0000000000
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/config.yaml b/examples/egocap/recordings/session_20261105-134927_267125/config.yaml
deleted file mode 100644
index 108ee6fe71..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/config.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-meta:
-  egocap_station_name: Station 01
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera.mp4 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera.mp4
deleted file mode 100644
index 2f25808c3c..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera.mp4
+++ /dev/null
@@ -1,3 +0,0 @@
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/c/0
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GIT binary patch
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/zarr.json
deleted file mode 100644
index 21a70a889e..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/capture_time/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
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-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
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-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/receive_time/c/0
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deleted file mode 100644
index 21a70a889e..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/head_human_camera/zarr.json
deleted file mode 100644
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/capture_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/left_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/zarr.json
deleted file mode 100644
index 9fa39812e9..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/right_hand_pose/zarr.json
+++ /dev/null
@@ -1,46 +0,0 @@
-{
-  "shape": [
-    19,
-    25,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        25,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/manus_glove/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/a_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/a_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/a_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/b_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/b_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/b_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
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\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/capture_time/c/0
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deleted file mode 100644
index 52064c3cc6..0000000000
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+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/c/0/0/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_pose/c/0/0/0
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index 52064c3cc6..0000000000
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+++ /dev/null
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_trigger/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/left_trigger/zarr.json
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index 5ca9a10976..0000000000
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/c/0 b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/c/0
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/receive_time/zarr.json
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diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/zarr.json
deleted file mode 100644
index 52064c3cc6..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_pose/zarr.json
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  "shape": [
-    19,
-    4,
-    4
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256,
-        4,
-        4
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_trigger/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_trigger/zarr.json
deleted file mode 100644
index 5ca9a10976..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/right_trigger/zarr.json
+++ /dev/null
@@ -1,40 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "float64",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": 0.0,
-  "codecs": [
-    {
-      "name": "bytes",
-      "configuration": {
-        "endian": "little"
-      }
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/x_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/x_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/x_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/y_button/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/y_button/zarr.json
deleted file mode 100644
index 5da83687dc..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/y_button/zarr.json
+++ /dev/null
@@ -1,37 +0,0 @@
-{
-  "shape": [
-    19
-  ],
-  "data_type": "bool",
-  "chunk_grid": {
-    "name": "regular",
-    "configuration": {
-      "chunk_shape": [
-        256
-      ]
-    }
-  },
-  "chunk_key_encoding": {
-    "name": "default",
-    "configuration": {
-      "separator": "/"
-    }
-  },
-  "fill_value": false,
-  "codecs": [
-    {
-      "name": "bytes"
-    },
-    {
-      "name": "zstd",
-      "configuration": {
-        "level": 0,
-        "checksum": false
-      }
-    }
-  ],
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "array",
-  "storage_transformers": []
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/zarr.json
deleted file mode 100644
index d1f97dad69..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/pico_controller/zarr.json
+++ /dev/null
@@ -1,5 +0,0 @@
-{
-  "attributes": {},
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file
diff --git a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/zarr.json b/examples/egocap/recordings/session_20261105-134927_267125/episode_0/zarr.json
deleted file mode 100644
index 5e164d5dc7..0000000000
--- a/examples/egocap/recordings/session_20261105-134927_267125/episode_0/zarr.json
+++ /dev/null
@@ -1,128 +0,0 @@
-{
-  "attributes": {
-    "recording_episode_id": "session_20261105-134927_267125/episode_0",
-    "session_id": "session_20261105-134927_267125",
-    "video_encoder_options": {
-      "head_human_camera": {
-        "crf": 12,
-        "preset": "medium",
-        "pix_fmt": "yuv420p"
-      }
-    },
-    "task_description": "Pour water into the cup.",
-    "instruction_language": "Pour water into the cup.",
-    "operator_name": "<tester>",
-    "episode_length": 9,
-    "episode_duration": 0.3008718260025489,
-    "recorded_at": "2026-11-05; 13-49-27",
-    "integrity_check_passed": true,
-    "integrity_check_issues": [],
-    "domain_checks": "SKIPPED",
-    "capture_qc_decision": "SKIPPED",
-    "capture_qc_issues": [],
-    "capture_qc_warnings": [],
-    "capture_qc_results": [],
-    "capture_qc_policy": null,
-    "bad_episode": false,
-    "config_digest": "abfcca2e09b9bc09a1efcf67b110b4652b915fb5decb65d005f7521bc98537ad",
-    "sources": [
-      {
-        "kind": "numeric",
-        "name": "pico_controller",
-        "fields": [
-          {
-            "name": "head_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_pose",
-            "dtype": "float64",
-            "shape": [
-              4,
-              4
-            ]
-          },
-          {
-            "name": "left_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "right_trigger",
-            "dtype": "float64",
-            "shape": []
-          },
-          {
-            "name": "a_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "b_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "x_button",
-            "dtype": "bool",
-            "shape": []
-          },
-          {
-            "name": "y_button",
-            "dtype": "bool",
-            "shape": []
-          }
-        ]
-      },
-      {
-        "kind": "numeric",
-        "name": "manus_glove",
-        "fields": [
-          {
-            "name": "left_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          },
-          {
-            "name": "right_hand_pose",
-            "dtype": "float64",
-            "shape": [
-              25,
-              4,
-              4
-            ]
-          }
-        ]
-      },
-      {
-        "kind": "video",
-        "name": "head_human_camera",
-        "width": 1280,
-        "height": 720,
-        "fps": 30.0,
-        "encoder": "ffmpeg_h264",
-        "intrinsics": false,
-        "encoder_options": null
-      }
-    ],
-    "calibration_assets": {}
-  },
-  "zarr_format": 3,
-  "node_type": "group"
-}
\ No newline at end of file

From cae2d58bd4e2fd31a0e125e8c5b7dc071a6294ae Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 14:00:21 -0800
Subject: [PATCH 44/54] egocap: state that tracking uses the existing host poll
 timestamp

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md b/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
index 504d3f9c23..5006cfb271 100644
--- a/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
+++ b/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
@@ -44,9 +44,9 @@ None of these is a qualified measurement time, so none can support a synchronize
   submission order, which shifts after an encoder-internal drop. Header search found
   `V4L2_CID_MPEG_VIDEOENC_COPY_TIMESTAMP` (undocumented, unused elsewhere); whether it works on the driver is being
   probed on the Orin. Until a verified mechanism exists, the honest options are to stop or flag the stream on loss.
-- **Tracking device times.** Tracking samples carry host poll time (`tracking_time: host_poll`). Using the Manus
-  SDK `publishTime` or a controller measurement time needs the vendor's documented clock and a schema field for the
-  raw value; a `.fbs` change makes existing recordings unreadable (see `src/core/schema/AGENTS.md`), so it is not
-  done on a guess.
+- **Tracking device times.** Tracking is recorded on the existing CaptureServer frame timestamp, the host's poll
+  time (`tracking_time: host_poll`); the take's evidence says so and that physical alignment is unavailable. Carrying
+  a controller's evaluation time or a glove's receipt time into the recording would need changes outside egocap
+  (tracker accessors, tensor types, the plugins), which are out of scope.
 - **Orin verification** of the counter conversion, the encoder probe and the Argus build, and measured
   sensor-to-tracking alignment.

From 2a8240f12ef180826dc3873b03140db6b9d0b253 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 14:13:04 -0800
Subject: [PATCH 45/54] egocap, sensing: record and show latency from the
 frame-ready time by default

The native sender publishes its monotonic frame-ready time (monotonic_us) by
default; recording accepts that basis alongside the sensor-capture basis, the
take's timing evidence names which, and the page computes latency from either.
The agent-only plan notes move to the git-ignored agentPlans/ folder. Tests
extend the saved-artifact timeline fixture over both bases.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .gitignore                                    |   3 +
 examples/egocap/LIVEKIT_PREVIEW.md            | 201 ++++--------------
 examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md |  52 -----
 .../backend/egocap_web/livekit_recording.py   |  45 ++--
 .../capture_server/capture_server/protocol.py |  13 +-
 .../frontend/src/LiveKitCameraTile.test.tsx   |  13 +-
 .../egocap/frontend/src/LiveKitCameraTile.tsx |   4 +-
 .../egocap/frontend/src/captureProtocol.ts    |   7 +
 .../backend/test_app_livekit_recording.py     |   4 +-
 .../tests/backend/test_livekit_recording.py   |  37 +++-
 .../backend/test_livekit_recording_source.py  |  19 +-
 .../backend/test_shared_truth_timeline.py     |  40 +++-
 12 files changed, 184 insertions(+), 254 deletions(-)
 delete mode 100644 examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md

diff --git a/.gitignore b/.gitignore
index 962256e912..8fbc462026 100644
--- a/.gitignore
+++ b/.gitignore
@@ -96,3 +96,6 @@ tmp/
 # Wheel SBOM and license evidence written by the collector in scripts/sbom/
 /sbom/
 examples/egocap/recordings/
+
+# Agent-only plans and status notes; never checked in.
+/agentPlans/
diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index 993707a870..30952ee889 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -4,194 +4,85 @@ SPDX-FileCopyrightText: 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserve
 SPDX-License-Identifier: Apache-2.0
 -->
 
-# Live camera video over LiveKit
+# LiveKit camera preview and recording
 
-The camera host (an Orin running the SENSING publisher) publishes hardware-encoded H.264 into a LiveKit room.
-CaptureServer says where that video is: it lists the room's cameras in the session's existing `streams` list, next to
-its other cameras, from a small file you give it. The egocap backend passes the list on and issues viewer
-tokens; the browser then connects to LiveKit itself to receive the video. No video passes through CaptureServer or
-the backend, and CaptureServer never joins the room.
+Camera video can reach the PC through a LiveKit room instead of through CaptureServer. CaptureServer only
+says where the video is; the browser (preview) and the backend (recording) each join the room themselves.
+The publisher is the Orin's sender, or `tools/livekit_orin_emulator.py` when no Orin is available.
 
 Recording LiveKit video and running the emulator need the optional `livekit` package: `uv sync --extra livekit`
 (included in `--extra dev`). Without it the backend still starts and the browser preview works, but the Record
 button is blocked for LiveKit streams with a message naming the extra.
 
-```text
-Orin: SIPL -> hardware H.264 -> LiveKit publisher --> LiveKit server --> browser <video>
-PC:   CaptureServer (--livekit-streams: where the streams are) -> egocap backend (list + viewer token)
-```
+Run every command from `examples/egocap`.
+
+## 1. Describe the streams
 
-**Recording.** A LiveKit stream is saved with a take only when its entry gives `width`, `height` and `fps` and
-declares `timestamp_basis: capture_monotonic_us`: the publisher stamps each frame with the sensor's capture event on
-the publisher's own monotonic clock. If any offered stream does not qualify, recording is refused with that stream's
-name (remove it from the streams file, or make it recordable); preview is unaffected. The native Orin sender
-declares processing time by default, so with it recording is refused unless it is started with
-`--timestamp-basis=capture_monotonic_us` and the streams file declares that basis.
-
-There is one way to place the publisher's clock on this PC's, the four-timestamp exchange CloudXR uses. The recorder
-joins the room itself (it needs the same `LIVEKIT_API_KEY` and `LIVEKIT_API_SECRET`), and once a second sends the
-publisher a small request as a LiveKit data message on topic `isaaccapture.clock-sync`: little-endian `Q`, a
-sequence number and `t1` (this PC's monotonic ns); the publisher answers `R`, the sequence, `t1`, `t2` (its monotonic
-ns on receipt) and `t3` (its monotonic ns when replying); the recorder stamps `t4` on the reply. The round trip with
-the publisher's processing removed is `(t4 - t1) - (t3 - t2)` and the offset is `((t2 - t1) + (t3 - t4)) / 2`. The
-offset assumes both directions took equally long, so the mapping's uncertainty is half the round trip and nothing
-smaller is claimed. The best recent exchange is used; a mapping is withheld when its last exchange is more than 5 s
-old; and a new exchange that disagrees with the current mapping by more than the two uncertainties plus a 200 ppm
-drift allowance is a discontinuity. A take cannot start until the publisher has answered at least once, and ends if
-the mapping goes missing, goes stale or jumps; frames already recorded keep the mapping they were made under (a jump is only seen at the next exchange, so frames
-captured since the previous one carry its error), and
-the newest mapping epochs, their uncertainties and the budget are saved in the kept episode's `timing` attributes. A
-take also ends when the mapping's uncertainty exceeds the budget, 5 ms by default and set in milliseconds with
-`EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS`; the default is a policy choice, not a measurement. The recorder
-also applies one coarse check: a frame more than 2 s old on arrival, or stamped in the future, ends the take. A take
-that passes is not thereby proven aligned with tracking, which also assumes the backend and CaptureServer share one
-machine's clock. Browser display latency is not shown: it needs the same exchange between the PC and the browser and
-an exact match of the displayed frame to its capture stamp, neither of which exists yet.
-
-**Recording from the real Orin.** The native sender answers the clock-sync requests with its own monotonic clock, and
-with `--timestamp-basis=capture_monotonic_us` publishes the sensor's capture event on that clock. It converts the
-backend's sensor timestamp through one anchor pair (the source clock and `CLOCK_MONOTONIC`, read back to back and
-refreshed once a second, never per frame): SIPL's capture counter as ticks of the ARM generic counter at its
-`CNTFRQ` rate, Argus's sensor timestamp as `CLOCK_MONOTONIC_RAW` nanoseconds. Both units are assumptions, so every
-frame is checked: a capture time later than the frame's ready time, or more than 2 s before it, fails the stream
-rather than being published. The plausibility check only catches gross errors, so this option is not a qualified capture basis for
-synchronized recording until the target sensor's clock, event and encoder correlation are verified. None of this has run on an Orin; the first run shows whether the assumed units hold, and
-real alignment still needs the evidence below. The sender's only capture-event clock is the SIPL frame capture counter (`frameCaptureTSC`), which NVIDIA's public SIPL documentation describes as
-raw ARM generic-timer ticks, not nanoseconds (the sender carries it as `capture_tsc`, an unscaled value). The deployed
-Orin's SIPL headers are not available here, so nothing about its units or event is verified. The evidence required,
-from a supported platform API and not from fitting measurements:
-
-1. The counter's definition, units and event (which instant of the frame it marks) from the SIPL image-metadata
-   documentation of the deployed release, and the TSC's definition and rate in the L4T documentation of the
-   deployed JetPack. Record the exact header, SDK and L4T versions.
-2. A contemporaneous counter and monotonic-clock reading from a supported API, so that a counter value can be placed
-   on `CLOCK_MONOTONIC` through one offset that is re-measured at a low rate, never per frame. Convert in the sender
-   and publish that time with the `capture_monotonic_us` basis, keeping the raw counter in the frame's user data.
-3. A physical event seen by both the camera and a tracking device as the test of real alignment, with the residual
-   offset, drift and jitter measured. The frame-age check only catches gross disagreement.
-
-`SENSING_TSC_PROBE=1` prints the capture counter beside the host clocks twice a second, off by default, as separate
-uncalibrated samples. The counter's units are unconfirmed, so they must not be subtracted, fitted or used as a mapping.
-
-**Exercised once on an Orin.** The author ran the publisher on an AGX Orin with two SHW5G cameras (2560x1984, 30 fps,
-H.264) into a LiveKit server on the Orin, and a PC browser showed the video. Over the run each track published about
-2,100 frames with none replaced and one capture missed on one sensor. This was a single short run on dev keys and plain
-`ws://`, not a qualification. Still unmeasured or unverified: end-to-end latency, behaviour when the encoder drops a
-frame, and real sensor-to-tracking alignment. Recording from the real Orin stays refused.
-
-## 1. LiveKit server (on the PC or the LAN)
-
-Run a LiveKit server reachable from both the Orin and the browser, and note its API key and secret. For a quick local
-server, `livekit-server --dev --bind 0.0.0.0` uses the development key pair printed at start-up. Browsers need a
-secure context for WebRTC on anything but `localhost`, so use a `wss://` URL with a certificate the browser trusts
-when the browser is not on the server's own machine. Open the server's signalling and media ports between the machines.
-
-## 2. Tell CaptureServer where the streams are
-
-Write a file naming the room and its tracks (this is all CaptureServer needs; it never connects to LiveKit):
+Write a YAML file naming the room, the publisher's identity and one entry per published track. The field
+reference is in [`capture_server/README.md`](capture_server/README.md#the---livekit-streams-file).
 
 ```yaml
 livekit:
-  url: wss://LIVEKIT_HOST          # what consumers connect to
+  url: wss://LIVEKIT_HOST
   room: sensing-preview
-  publisher: orin-sensing          # the publisher's participant identity
-  streams:                         # up to eight
-    - {name: Head left, track: sensing-left, width: 2560, height: 1984, fps: 30}
-    - {name: Head right, track: sensing-right}
+  publisher: orin-sensing
+  timestamp_basis: capture_unix_us
+  streams:
+    - {name: Head left, track: sensing-left, width: 1280, height: 720, fps: 30}
 ```
 
-`width`, `height` and `fps` are optional and only describe what to expect; leave them out when unknown. Start
-CaptureServer with `--livekit-streams FILE` in addition to its usual options. The entries reach the backend in the
-session start message, so they appear once the backend's capture session has started. Offering a stream does not mean
-frames are arriving.
-
-## 3. Backend credentials
+- `track` must equal the name the publisher gives the track (the emulator's `livekit=NAME`).
+- `publisher` must equal the identity in the publisher's join token.
+- Preview works with any `timestamp_basis`. Recording needs `capture_unix_us` and `width`, `height` and
+  `fps`; recording is refused while any offered stream lacks them.
 
-The backend signs viewer tokens with the server's key pair, read from its environment only:
+Start CaptureServer with the file (add `--mock` for synthetic tracking):
 
 ```bash
-export LIVEKIT_API_KEY=...      # the LiveKit server's API key
-export LIVEKIT_API_SECRET=...   # its secret
+uv run capture-server --mock --livekit-streams livekit.yaml
 ```
 
-`GET /api/livekit-token?room=ROOM` returns a token that can join that room and subscribe, nothing more. It answers 404
-for a room the session does not offer and 503 when the key pair is not set. Like the camera preview routes it is open
-to anyone who can reach the backend, so keep the backend on a trusted network. Missing credentials stop the video but
-the stream list is still shown.
+## 2. Create the publisher's join token
 
-## 4. Orin publisher
-
-Create a token file for the publisher: a LiveKit token for this room, with identity equal to `publisher` above,
-allowed to publish (for example with LiveKit's `lk token create`; see its `--help`). Then add the LiveKit options to
-the usual `camera_plugin_sensing` invocation, keeping the rig's own platform and configuration arguments:
+The publisher joins with a token for the room and identity from the file, with publish permission. With the
+LiveKit CLI (`lk`), using the key pair of the LiveKit server:
 
 ```bash
-camera_plugin_sensing ... \
-  --livekit-url=wss://LIVEKIT_HOST --livekit-token-file=join.token \
-  --add-stream=sensor=0,livekit=sensing-left \
-  --add-stream=sensor=1,livekit=sensing-right
+lk token create --api-key "$LIVEKIT_API_KEY" --api-secret "$LIVEKIT_API_SECRET" \
+  --join --room sensing-preview --identity orin-sensing --valid-for 24h > orin-token.txt
 ```
 
-The `livekit=` names must equal the file's `track` values. Start the publisher by hand; closing the browser
-disconnects only that viewer, and the Orin keeps capturing until you stop it.
-
-## 5. Expected result and troubleshooting
+The CLI flags are not exercised by this repository's tests; check `lk token create --help` for your version.
+The token file holds only the token. Keep it private.
 
-Opening egocap shows the named tiles next to the tracking view. A tile reads "Waiting for camera" until its track is
-published, "No video frames" if a published track stops producing frames, and "Disconnected" while the room
-connection is down; the page reconnects on its own.
+## 3. Run the emulator (no Orin)
 
-| Symptom | Check |
-| --- | --- |
-| No tiles at all | CaptureServer was started with `--livekit-streams`, and the backend's capture session has started. |
-| "LiveKit preview unavailable: ... must be set" | `LIVEKIT_API_KEY` and `LIVEKIT_API_SECRET` in the backend's environment. |
-| Tiles never leave "Connecting" | The `url` is reachable from the browser; `wss://` certificate trusted; signalling and media ports open. |
-| Connected, tile stays "Waiting for camera" | The publisher's token room and identity match `room` and `publisher`; `livekit=` names match `track`. |
-| "Waiting for video" or black picture | The browser may not support the encoder's H.264 profile; check the browser console. |
-
-## 5. No Orin: the emulator
-
-`tools/livekit_orin_emulator.py` publishes test-pattern tracks with the same per-frame metadata (`user_timestamp`,
-`frame_id`, 8-byte little-endian capture counter) in place of the Orin. It uses the SDK's software encoder, so it
-exercises the PC side and the metadata contract but not the Jetson hardware encoder, its H.264 profile or the real
-sender's pacing.
+`tools/livekit_orin_emulator.py` joins the room and publishes one test-pattern track per `--add-stream`.
 
 ```bash
 uv run python tools/livekit_orin_emulator.py \
-  --livekit-url=wss://LIVEKIT_HOST --livekit-token-file=join.token \
-  --add-stream=sensor=0,livekit=sensing-left --add-stream=sensor=1,livekit=sensing-right \
-  --width=1280 --height=720 --fps=30 --timestamp-basis=capture_monotonic_us
+  --livekit-url wss://LIVEKIT_HOST \
+  --livekit-token-file orin-token.txt \
+  --add-stream sensor=0,livekit=sensing-left \
+  --width 1280 --height 720 --fps 30
 ```
 
-`--timestamp-basis=capture_monotonic_us` (the default) is the recordable basis and is honest here because the emulator
-is the camera: it stamps the frame on its own emulated monotonic clock when it generates it, and answers the PC's
-clock-sync requests with that same clock. `--monotonic-offset-s`, `--clock-drift-ppm` and `--pipeline-delay-ms` give
-that clock a different boot time, a slow drift and a capture-to-publish delay, so the mapping has something real to
-find. `processing_unix_us` declares what the current native sender sends (processing time, not recorded);
-`capture_unix_us` and `monotonic_us` exist for tests of refusal and are not recordable.
+`--add-stream sensor=N,livekit=NAME` is repeatable. `--timestamp-basis` takes `capture_unix_us` (default),
+`processing_unix_us` or `monotonic_us`; set the same value in the streams file. Frames go through a software
+encoder, so this checks the PC side and the metadata, not the Jetson encoder.
 
-## 6. The whole stack on one machine, with the emulator
+## 4. Preview and record on the PC
 
-This runs everything except the Orin on one machine, against a local LiveKit server in development mode (key
-`devkey`, secret `secret`). Each command runs in its own terminal, from `examples/egocap/`.
+Give the backend the LiveKit server's key pair, then start it as in the root [`README.md`](README.md):
 
 ```bash
-livekit-server --dev --bind 127.0.0.1                    # signalling on ws://127.0.0.1:7880
-
-# pub.token: a token for room sensing-preview, identity orin-sensing, allowed to publish (lk token create, or any
-# LiveKit token tool, signed with devkey/secret)
-uv run python tools/livekit_orin_emulator.py --livekit-url=ws://127.0.0.1:7880 --livekit-token-file=pub.token \
-  --add-stream=sensor=0,livekit=sensing-left --add-stream=sensor=1,livekit=sensing-right \
-  --width=640 --height=480 --fps=15 --timestamp-basis=capture_monotonic_us
-
-uv run capture-server --mock --livekit-streams streams.yaml
-LIVEKIT_API_KEY=devkey LIVEKIT_API_SECRET=secret uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
+export LIVEKIT_API_KEY=... LIVEKIT_API_SECRET=...
+uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
 ```
 
-`streams.yaml` names the room, the publisher and both tracks, with `width: 640`, `height: 480`, `fps: 15` and
-`timestamp_basis: capture_monotonic_us` (section 2). Open `http://127.0.0.1:8000/`: both tiles show live video, and
-Record saves a take with the two cameras next to the mock tracking. A take recorded this way came out KEPT, with 91
-frames per camera over 6 s at the configured size and rate and increasing capture times.
-
-This exercises the PC side only. It does not test the Jetson encoder, the sender's pacing, or clock agreement
-between two machines.
+- The browser asks `GET /api/livekit-token` for a subscribe-only token, only for a room the current session
+  offers, and shows the stream in the camera grid. Without the key pair the backend answers 503 and the page
+  reports the preview as unavailable.
+- Recording joins the room with its own subscribe-only token signed with the same key pair. It starts only
+  when every offered stream is recordable (see step 1) and stops with a reason if a frame cannot be recorded
+  honestly. The backend must run on the machine whose clock CaptureServer reports.
diff --git a/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md b/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
deleted file mode 100644
index 5006cfb271..0000000000
--- a/examples/egocap/TIMESTAMP_ALIGNMENT_STATUS.md
+++ /dev/null
@@ -1,52 +0,0 @@
-<!--
-SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
-SPDX-License-Identifier: Apache-2.0
--->
-
-# Timestamp alignment: what is implemented, what the sources really stamp, what is open
-
-This tracks the repository-root `TimestampAlignment.md` plan against the code. Nothing here establishes
-synchronization: no required accuracy budget has been set, and no real-source alignment has been measured.
-
-## Implemented
-
-- **One clock path.** A four-timestamp exchange between the PC and the publisher (and the browser) maps the
-  publisher's monotonic clock onto the PC's; recording uses only that mapping, ends a take on a missing, stale,
-  jumped or over-budget mapping (`EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS`, default 5 ms, a policy choice), and saves the
-  mapping evidence in the episode's `timing` attributes.
-- **Native sender.** Answers the exchange and, with `--timestamp-basis=capture_monotonic_us`, converts the SIPL
-  counter or Argus sensor timestamp to `CLOCK_MONOTONIC` through a low-rate anchor, failing the stream on any
-  implausible conversion. Written without an Orin: units unverified, not built against the SDKs.
-- **Encoder probe.** `SENSING_ENCODER_TIMESTAMP_PROBE=1` logs returned unit stamps beside the last submitted stamp,
-  so the first Orin run shows whether the driver returns them. The `COPY_TIMESTAMP` control is not set: its header
-  is not present off the Orin.
-
-## What each source actually stamps (source audit, not hardware-verified)
-
-- **Controllers** (`src/core/live_trackers/cpp/live_controller_tracker_impl.cpp`): the update tick time
-  (`last_update_time_`, a host monotonic reading) is converted to an `XrTime`, poses are located at that time with
-  `xrLocateSpace`, and the `DeviceDataTimestamp` carries that update time as both availability and sample time with
-  the `XrTime` as the raw value. It is the pose evaluation time of a runtime-predicted pose, not a physical
-  measurement time.
-- **Manus gloves** (`src/plugins/manus/core/manus_hand_tracking_plugin.cpp`): the SDK stream's `publishTime` is read
-  into the skeleton info but is not used for the pushed sample. The sample is pushed with the host monotonic time at
-  push for both sample and availability, and the hand poses are located at the current `XrTime`. Skeleton freshness
-  uses host `steady_clock` at the callback (receipt). So glove sample time today is host processing time; the SDK
-  time exists and could be mapped if the SDK documents its clock and a host correlation.
-- **Camera (LiveKit)**: processing time on the Orin (conversion), not capture; see the plan for the SIPL/Argus
-  counters, whose units and host correlation are not verified.
-
-None of these is a qualified measurement time, so none can support a synchronized-recording claim yet.
-
-## Open
-
-- **Encoder association.** The Orin encoder does not return the submitted timestamp, so units are paired by
-  submission order, which shifts after an encoder-internal drop. Header search found
-  `V4L2_CID_MPEG_VIDEOENC_COPY_TIMESTAMP` (undocumented, unused elsewhere); whether it works on the driver is being
-  probed on the Orin. Until a verified mechanism exists, the honest options are to stop or flag the stream on loss.
-- **Tracking device times.** Tracking is recorded on the existing CaptureServer frame timestamp, the host's poll
-  time (`tracking_time: host_poll`); the take's evidence says so and that physical alignment is unavailable. Carrying
-  a controller's evaluation time or a glove's receipt time into the recording would need changes outside egocap
-  (tracker accessors, tensor types, the plugins), which are out of scope.
-- **Orin verification** of the counter conversion, the encoder probe and the Argus build, and measured
-  sensor-to-tracking alignment.
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 73679bc73c..bf33f272c5 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -4,13 +4,15 @@
 
 """Feeds received LiveKit camera frames into a take's recording ingress.
 
-A frame is recorded only when its timestamp is a capture event on the publisher's monotonic clock
-(``SENSOR_CAPTURE_MONOTONIC_US``). It is placed on this machine's monotonic clock, the one the tracking samples
-use, through the mapping the receiver's clock-sync client builds from four-timestamp exchanges with the same
-publisher. There is one path: a stream with any other basis, a missing or stale mapping, or a mapping that jumped
-during the take stops the feed with that reason instead of recording a guessed time. Arrival time is never used as
-capture time. A mapping carries its uncertainty (half the exchange round trip), not an accuracy claim about the
-sensor.
+A frame is recorded only when its timestamp is on the publisher's monotonic clock: the time the frame was ready
+to encode (``PUBLISHER_MONOTONIC_US``) or the sensor's capture event (``SENSOR_CAPTURE_MONOTONIC_US``). The
+saved time means whichever the stream declares; frame-ready time is later than capture by the publisher's
+capture and conversion delay, and neither is proof of physical alignment with tracking. It is placed on this
+machine's monotonic clock, the one the tracking samples use, through the mapping the receiver's clock-sync
+client builds from four-timestamp exchanges with the same publisher. There is one path: a stream with any other
+basis, a missing or stale mapping, or a mapping that jumped during the take stops the feed with that reason
+instead of recording a guessed time. Arrival time is never used as capture time. A mapping carries its
+uncertainty (half the exchange round trip), not an accuracy claim about the sensor.
 
 Tracking times come from CaptureServer's monotonic clock, which agrees with this process's only when both run on
 one machine, so recording LiveKit video is refused unless CaptureServer's URL is a loopback address.
@@ -48,6 +50,12 @@
 #: Most mappings recorded as a take's timing evidence, the newest ones; the estimator may have adopted more.
 _MAX_EVIDENCE_MAPPINGS = 64
 
+# The bases recorded, and what each one's time means in the saved take.
+_RECORDABLE_BASES: dict[p.LiveKitTimestampBasis, str] = {
+    p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US: "frame_ready",
+    p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US: "sensor_capture",
+}
+
 BUDGET_ENV = "EGOCAP_CLOCK_UNCERTAINTY_BUDGET_MS"
 # A frame at 30 fps is 33 ms; a mapping uncertain by more than a few ms would blur which camera frame matches a
 # tracking sample. This default is a policy choice, not a measurement; set the environment variable to change it.
@@ -57,7 +65,7 @@
 # What each tracking source's saved time means today; none is a physical acquisition time.
 _TRACKING_SEMANTICS: dict[str, str] = {
     "recorded_time": "the host's poll time for every tracking source",
-    "controllers": "device value is the pose-evaluation time (a runtime-predicted XrTime), not an acquisition time",
+    "controllers": "device value is the pose-evaluation time (a predicted XrTime), not an acquisition time",
     "manus_gloves": "device value is host monotonic time at push; the SDK publishTime is not used",
     "physical_alignment": "unavailable: no tracking source carries a mapped device measurement time",
 }
@@ -108,10 +116,10 @@ def unrecordable_reason(started: Any, capture_server_url: str | None = None) ->
                 f"LiveKit stream {stream.name!r}: recording needs CaptureServer on this machine "
                 f"(its clock must match tracking's), but it is at {capture_server_url!r}"
             )
-        if stream.timestamp_basis is not p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US:
+        if stream.timestamp_basis not in _RECORDABLE_BASES:
             return (
-                f"LiveKit stream {stream.name!r}: its timestamps are not a capture event on the publisher's "
-                "monotonic clock, so it cannot be recorded"
+                f"LiveKit stream {stream.name!r}: its timestamps are not on the publisher's monotonic clock, "
+                "so it cannot be recorded"
             )
         if None in (stream.width, stream.height, stream.fps):
             return f"LiveKit stream {stream.name!r}: width, height and fps must be configured to record it"
@@ -197,9 +205,9 @@ async def _run(self, stream_id: int) -> None:
         """Feed one stream until the take fails or the feed is stopped."""
         stream = self._streams[stream_id]
         source = self._source_names[stream_id]
-        if stream.timestamp_basis is not p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US:
+        if stream.timestamp_basis not in _RECORDABLE_BASES:
             # Checked before any frame arrives: this stream cannot become recordable by waiting.
-            self._fail(f"{stream.name}: its timestamps are not a capture event on the publisher's monotonic clock")
+            self._fail(f"{stream.name}: its timestamps are not on the publisher's monotonic clock")
             return
         while self.failure is None:
             try:
@@ -281,7 +289,7 @@ def recordable_livekit_streams(started: Any) -> tuple[p.LiveKitCameraStream, ...
         s
         for s in started.streams
         if isinstance(s, p.LiveKitCameraStream)
-        and s.timestamp_basis is p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
+        and s.timestamp_basis in _RECORDABLE_BASES
         and None not in (s.width, s.height, s.fps)
     )
 
@@ -433,7 +441,14 @@ def timing_evidence(self) -> dict[str, Any] | None:
                 "method": "four_timestamp_exchange",
                 "local_clock": "pc_monotonic",
                 "remote_clock": "publisher_monotonic",
-                "streams": [{"name": s.name, "timestamp_basis": s.timestamp_basis.name} for s in self._streams],
+                "streams": [
+                    {
+                        "name": s.name,
+                        "timestamp_basis": s.timestamp_basis.name,
+                        "time_meaning": _RECORDABLE_BASES[s.timestamp_basis],
+                    }
+                    for s in self._streams
+                ],
                 "mappings": [
                     {
                         "epoch": m.epoch,
diff --git a/examples/egocap/capture_server/capture_server/protocol.py b/examples/egocap/capture_server/capture_server/protocol.py
index e2dce6075c..3736266cef 100644
--- a/examples/egocap/capture_server/capture_server/protocol.py
+++ b/examples/egocap/capture_server/capture_server/protocol.py
@@ -202,10 +202,14 @@ class TimeUnit(IntEnum):
 
 
 class LiveKitTimestampBasis(IntEnum):
-    """What a LiveKit frame's ``user_timestamp_us`` means. Only the capture bases name a capture event."""
+    """What a LiveKit frame's ``user_timestamp_us`` means.
 
-    # The publisher host's monotonic clock in microseconds, read when the frame is processed. Not on any clock
-    # this host can convert.
+    Recording accepts the two monotonic bases: the frame-ready time (1) and the sensor capture event (4).
+    """
+
+    # The publisher host's monotonic clock in microseconds, read when the frame is ready to encode: after capture
+    # and conversion, so later than the sensor's capture event. Recordable: the PC maps it onto its own monotonic
+    # clock with the publisher's four-timestamp clock-sync exchanges.
     PUBLISHER_MONOTONIC_US = 1
     # Unix time in microseconds on the publisher host when the frame finished conversion: processing time,
     # later than capture by the capture and conversion delay.
@@ -215,8 +219,7 @@ class LiveKitTimestampBasis(IntEnum):
     # approved synchronization path, so the value is kept for the wire's sake only.
     SENSOR_CAPTURE_UNIX_US = 3
     # The sensor's capture event in microseconds on the publisher host's monotonic clock, mapped from the sensor's
-    # own counter by a sender that has verified the mapping. The basis a recording accepts: the PC maps it onto its
-    # own monotonic clock with four-timestamp clock-sync exchanges answered by the same publisher.
+    # own counter by a sender that has verified the mapping. Recordable the same way as PUBLISHER_MONOTONIC_US.
     SENSOR_CAPTURE_MONOTONIC_US = 4
 
 
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index 3203bc70cb..df7b56224a 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -442,9 +442,20 @@ describe("LiveKitCameraTile measured latency", () => {
     expect(statsTexts()[1]).toBe("– ms latency");
   });
 
-  it("is unavailable when the basis is not the capture event, even with stamps", () => {
+  it("is available for the publisher's frame-ready monotonic basis", () => {
     const track = stampedTrack();
     renderWith(track, { mapping: () => mappingOf() }, 1);
+    presentFrame(1);
+    windows(1);
+    presentFrame(1, frame);
+    windows(1);
+    expect(statsTexts()[1]).toBe("72 ms latency");
+    expect(track.lookupFrameMetadata).toHaveBeenCalledWith({ rtpTimestamp: 42 });
+  });
+
+  it("is unavailable when the basis is not a monotonic one, even with stamps", () => {
+    const track = stampedTrack();
+    renderWith(track, { mapping: () => mappingOf() }, 2);
     presentFrame(1, frame);
     windows(1);
     presentFrame(1, frame); // a frame in the second window, so it has an FPS figure beside the latency
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 470d467105..223c6863ce 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -14,7 +14,7 @@ import { useEffect, useRef, useState } from "react";
 import type { RemoteTrack } from "livekit-client";
 import { latencySample, summarizeLatency } from "./displayLatency";
 import type { LatencySample } from "./displayLatency";
-import { TIMESTAMP_BASIS_CAPTURE_MONOTONIC_US } from "./captureProtocol";
+import { MONOTONIC_TIMESTAMP_BASES } from "./captureProtocol";
 import type { LiveKitClockSync } from "./liveKitClockSync";
 import type { LiveKitPhase } from "./useLiveKitPreview";
 
@@ -118,7 +118,7 @@ export function LiveKitCameraTile({
         frameFieldsRef.current = Object.keys(metadata).sort().join(", ");
         // The publisher's stamp for exactly this frame, by its RTP timestamp, against its expected display time.
         const rtp = (metadata as { rtpTimestamp?: number }).rtpTimestamp;
-        if (basis === TIMESTAMP_BASIS_CAPTURE_MONOTONIC_US && typeof rtp === "number" && "lookupFrameMetadata" in track) {
+        if (MONOTONIC_TIMESTAMP_BASES.includes(basis) && typeof rtp === "number" && "lookupFrameMetadata" in track) {
           const stamp = (track as { lookupFrameMetadata: (a: { rtpTimestamp: number }) => { userTimestamp: bigint } | undefined })
             .lookupFrameMetadata({ rtpTimestamp: rtp });
           const sample = latencySample(metadata.expectedDisplayTime, stamp, clock?.mapping() ?? null);
diff --git a/examples/egocap/frontend/src/captureProtocol.ts b/examples/egocap/frontend/src/captureProtocol.ts
index 1b8f77031a..c3683cdf7e 100644
--- a/examples/egocap/frontend/src/captureProtocol.ts
+++ b/examples/egocap/frontend/src/captureProtocol.ts
@@ -269,8 +269,15 @@ export interface LiveKitStreamDescriptor {
   timestamp_basis: number;
 }
 
+/** LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US: the frame-ready time on the publisher's monotonic clock. */
+export const TIMESTAMP_BASIS_PUBLISHER_MONOTONIC_US = 1;
 /** LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US: the capture event on the publisher's monotonic clock. */
 export const TIMESTAMP_BASIS_CAPTURE_MONOTONIC_US = 4;
+/** The bases whose stamp the browser can place on the publisher's monotonic clock. */
+export const MONOTONIC_TIMESTAMP_BASES: readonly number[] = [
+  TIMESTAMP_BASIS_PUBLISHER_MONOTONIC_US,
+  TIMESTAMP_BASIS_CAPTURE_MONOTONIC_US,
+];
 
 export type StreamDescriptor = TrackingStreamDescriptor | CameraStreamDescriptor | LiveKitStreamDescriptor;
 
diff --git a/examples/egocap/tests/backend/test_app_livekit_recording.py b/examples/egocap/tests/backend/test_app_livekit_recording.py
index 483d24064f..6b4fc200fe 100644
--- a/examples/egocap/tests/backend/test_app_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_app_livekit_recording.py
@@ -105,7 +105,7 @@ def test_readiness_without_any_stream_says_no_camera(accepted_tracking):
     assert app_module._recording_readiness_check(_ready_monitor([]), None)() == (False, "no camera selected")
 
 
-def test_readiness_names_a_stream_whose_timestamps_are_not_a_capture_time(accepted_tracking):
+def test_readiness_names_a_stream_whose_timestamps_are_not_monotonic(accepted_tracking):
     streams = [
         _stream(16, p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US),
         _stream(17, p.LiveKitTimestampBasis.PUBLISHER_PROCESSING_UNIX_US),
@@ -113,7 +113,7 @@ def test_readiness_names_a_stream_whose_timestamps_are_not_a_capture_time(accept
     check = app_module._recording_readiness_check(_ready_monitor(streams), None)
     assert check() == (
         False,
-        "LiveKit stream 'cam17': its timestamps are not a capture event on the publisher's monotonic clock, "
+        "LiveKit stream 'cam17': its timestamps are not on the publisher's monotonic clock, "
         "so it cannot be recorded",
     )
 
diff --git a/examples/egocap/tests/backend/test_livekit_recording.py b/examples/egocap/tests/backend/test_livekit_recording.py
index 9c87e2dd22..6fa17d708e 100644
--- a/examples/egocap/tests/backend/test_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_livekit_recording.py
@@ -348,6 +348,19 @@ async def test_offered_sample_is_rgb8_with_the_frame_image_and_receive_time_in_s
     assert sample.receive_time == pytest.approx(11.1)
 
 
+async def test_publisher_monotonic_stream_is_recorded_through_the_clock_mapping():
+    ingress = FakeIngress()
+    frame = _received(16, 1_000_000, receive_ns=11_100_000_000)
+    feed = _feed(FakeReceiver({16: [frame]}), [_stream(16, "Head left", MONO)], ingress, {16: "head_left"})
+    feed.start()
+    await _settle()
+    await feed.stop()
+    assert feed.failure is None
+    (sample,) = ingress.offered
+    assert sample.source == "head_left"
+    assert sample.capture_time == 11.0
+
+
 async def test_feed_into_the_real_ingress_converts_and_submits_the_sample():
     submitted: list[VideoSample] = []
 
@@ -372,7 +385,7 @@ def submit(sample):
     assert submitted[0].image is frame.image
 
 
-@pytest.mark.parametrize("basis", [MONO, PROCESSING, UNIX_CAPTURE])
+@pytest.mark.parametrize("basis", [PROCESSING, UNIX_CAPTURE])
 async def test_non_capture_stream_fails_at_once_and_never_offers(basis):
     reasons: list[str] = []
     streams = [_stream(16, "Head left", basis)]
@@ -386,7 +399,7 @@ async def test_non_capture_stream_fails_at_once_and_never_offers(basis):
     assert receiver.calls == []  # refused before any frame was taken
     assert feed.failure is not None
     assert "Head left" in feed.failure
-    assert feed.failure == "Head left: its timestamps are not a capture event on the publisher's monotonic clock"
+    assert feed.failure == "Head left: its timestamps are not on the publisher's monotonic clock"
     assert reasons == [feed.failure]
 
 
@@ -421,7 +434,7 @@ async def test_refusing_ingress_fails_and_stops_that_stream():
 
 async def test_failure_is_reported_once_across_streams():
     reasons: list[str] = []
-    streams = [_stream(16, "Head left", MONO), _stream(17, "Head right", MONO)]
+    streams = [_stream(16, "Head left", PROCESSING), _stream(17, "Head right", PROCESSING)]
     feed = _feed(FakeReceiver({}), streams, FakeIngress(), on_failure=reasons.append)
     feed.start()
     await _settle()
@@ -432,7 +445,7 @@ async def test_failure_is_reported_once_across_streams():
 
 
 async def test_failure_without_a_callback_is_still_stored():
-    feed = _feed(FakeReceiver({}), [_stream(16, "Head left", MONO)], FakeIngress())
+    feed = _feed(FakeReceiver({}), [_stream(16, "Head left", PROCESSING)], FakeIngress())
     feed.start()
     await _settle()
     await feed.stop()
@@ -710,11 +723,23 @@ def test_unrecordable_reason_is_none_when_every_stream_is_recordable():
     assert unrecordable_reason(_started(_geometry(16), _geometry(17))) is None
 
 
-def test_unrecordable_reason_names_a_stream_that_is_not_a_capture_time():
+def test_unrecordable_reason_names_a_stream_that_is_not_monotonic():
     started = _started(_geometry(16), _geometry(17, PROCESSING), _geometry(18, MONO))
     assert (
         unrecordable_reason(started)
-        == "LiveKit stream 'cam17': its timestamps are not a capture event on the publisher's monotonic clock, "
+        == "LiveKit stream 'cam17': its timestamps are not on the publisher's monotonic clock, "
+        "so it cannot be recorded"
+    )
+
+
+def test_publisher_monotonic_stream_is_recordable():
+    assert unrecordable_reason(_started(_geometry(16, MONO), _geometry(17))) is None
+
+
+@pytest.mark.parametrize("basis", [PROCESSING, UNIX_CAPTURE])
+def test_non_monotonic_bases_are_still_refused(basis):
+    assert unrecordable_reason(_started(_geometry(16, basis))) == (
+        "LiveKit stream 'cam16': its timestamps are not on the publisher's monotonic clock, "
         "so it cannot be recorded"
     )
 
diff --git a/examples/egocap/tests/backend/test_livekit_recording_source.py b/examples/egocap/tests/backend/test_livekit_recording_source.py
index 6ed25d9c5d..4a8d30e0fa 100644
--- a/examples/egocap/tests/backend/test_livekit_recording_source.py
+++ b/examples/egocap/tests/backend/test_livekit_recording_source.py
@@ -79,19 +79,20 @@ def test_no_started_session_has_no_recordable_streams():
     assert recordable_livekit_streams(None) == ()
 
 
-def test_only_capture_time_streams_with_full_geometry_are_recordable():
+def test_only_monotonic_streams_with_full_geometry_are_recordable():
     keep = livekit_stream(16)
+    frame_ready = livekit_stream(18, basis=MONO)
     streams = [
         keep,
+        frame_ready,
         livekit_stream(17, basis=PROCESSING),
-        livekit_stream(18, basis=MONO),
         livekit_stream(22, basis=UNIX_CAPTURE),
         livekit_stream(19, width=None),
         livekit_stream(20, height=None),
         livekit_stream(21, fps=None),
         jpeg_camera(),
     ]
-    assert recordable_livekit_streams(SimpleNamespace(streams=streams)) == (keep,)
+    assert recordable_livekit_streams(SimpleNamespace(streams=streams)) == (keep, frame_ready)
 
 
 # --- LiveKitRecordingSource ------------------------------------------------------
@@ -416,7 +417,7 @@ async def test_without_clock_sync_there_is_no_timing_evidence():
 
 async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under(monkeypatch):
     monkeypatch.delenv(lrec.BUDGET_ENV, raising=False)
-    streams = [livekit_stream(16), livekit_stream(17)]
+    streams = [livekit_stream(16), livekit_stream(17, basis=MONO)]
     source, receiver = await prepared_source(streams)
     history = history_of(3)
     receiver.clock_sync = clock_sync_with(history, discontinuity=True, rejected=4, current=False)
@@ -428,8 +429,14 @@ async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under(
             "method": "four_timestamp_exchange",
             "local_clock": "pc_monotonic",
             "remote_clock": "publisher_monotonic",
-            "streams": [{"name": "cam16", "timestamp_basis": "SENSOR_CAPTURE_MONOTONIC_US"}]
-            + [{"name": "cam17", "timestamp_basis": "SENSOR_CAPTURE_MONOTONIC_US"}],
+            "streams": [
+                {
+                    "name": "cam16",
+                    "timestamp_basis": "SENSOR_CAPTURE_MONOTONIC_US",
+                    "time_meaning": "sensor_capture",
+                },
+                {"name": "cam17", "timestamp_basis": "PUBLISHER_MONOTONIC_US", "time_meaning": "frame_ready"},
+            ],
             "mappings": [
                 {
                     "epoch": m.epoch,
diff --git a/examples/egocap/tests/backend/test_shared_truth_timeline.py b/examples/egocap/tests/backend/test_shared_truth_timeline.py
index e6e30b368b..d4d0a64d00 100644
--- a/examples/egocap/tests/backend/test_shared_truth_timeline.py
+++ b/examples/egocap/tests/backend/test_shared_truth_timeline.py
@@ -8,7 +8,12 @@
 three ways, each through the production path:
 
 * a camera on its own clock (offset, drift), through ``LiveKitRecordingFeed`` with the real ``ClockEstimator``; its
-  frame stamp is the capture instant, a fixed pipeline delay after the event, and its delivery delay jitters;
+  frame stamp is a fixed, stated delay after the event, and its delivery delay jitters. Two camera bases are
+  covered: ``SENSOR_CAPTURE_MONOTONIC_US`` (the stamp is the capture instant: exposure and readout after the event)
+  and ``PUBLISHER_MONOTONIC_US`` (the stamp is when the frame was ready to encode: the capture delay plus further
+  pipeline delay). Both are mapped identically and neither is corrected toward the event; the saved time is the
+  stamped time on the PC clock, i.e. the event time plus that basis's stated delay, within the declared
+  uncertainty;
 * a glove-like and a controller-like source, as ``CaptureFrame`` tracking blobs through the real conversion, saved
   under the HOST POLL time (``capture_time_ns``). That is not a device measurement time and nothing here maps it:
   an event shows up in the first poll at or after it, so its saved time is the poll time, up to one poll period
@@ -59,6 +64,12 @@
 EVENTS = 24
 #: The camera stamps the capture instant this long after the physical event (exposure and readout).
 CAM_PIPELINE_S = 0.012
+#: Frame-ready stamps add encode-queue delay on top of capture; the recording applies no correction for it.
+FRAME_READY_PIPELINE_S = 0.041
+CAMERA_BASES = {
+    p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US: CAM_PIPELINE_S,
+    p.LiveKitTimestampBasis.PUBLISHER_MONOTONIC_US: FRAME_READY_PIPELINE_S,
+}
 #: Host polls of the two tracking sources; phases differ so they never coincide.
 GLOVE_POLL_S, GLOVE_PHASE_S = 0.010, 0.003
 CONTROLLER_POLL_S, CONTROLLER_PHASE_S = 0.014, 0.005
@@ -131,12 +142,14 @@ class Saved:
     controller_k: np.ndarray
     feed_failure: str | None
     raw_cam_stamp_s: dict[int, float]  # what the camera wrote, before any mapping
+    stamp_delay_s: float = CAM_PIPELINE_S  # the stated delay of the stamped instant after the event
 
 
 async def run_take(
     tmp_path,
     *,
     cam_clock: DeviceClock,
+    basis: p.LiveKitTimestampBasis = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US,
     cam_drop: frozenset[int] = frozenset(),
     glove_gaps: tuple[tuple[float, float], ...] = (),
     controller_gaps: tuple[tuple[float, float], ...] = (),
@@ -150,7 +163,7 @@ async def run_take(
     for k in range(EVENTS):
         if k in cam_drop:
             continue
-        capture_pc_ns = round((event_time_s(k) + CAM_PIPELINE_S) * S)
+        capture_pc_ns = round((event_time_s(k) + CAMERA_BASES[basis]) * S)
         # Delivery jitter stays under the event period so frames arrive in capture order.
         delay_s = rng.uniform(0.02, 0.2)
         stamp_us = round(cam_clock.read_ns(capture_pc_ns) / 1000)
@@ -174,7 +187,7 @@ async def run_take(
         room="r",
         publisher="o",
         track="t",
-        timestamp_basis=p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US,
+        timestamp_basis=basis,
     )
 
     config = ServiceConfig(
@@ -235,6 +248,7 @@ def submit(sample):
         controller_k=np.array(controller_k),
         feed_failure=feed.failure,
         raw_cam_stamp_s=raw_stamp_s,
+        stamp_delay_s=CAMERA_BASES[basis],
     )
 
 
@@ -275,7 +289,7 @@ def assert_saved_artifacts_agree_with_truth(saved: Saved, *, observed_by_camera:
     for k, cam_s in cam_by_k.items():
         truth_s, unc_s = event_time_s(k), unc_by_k[k]
         # Camera against truth: the stated pipeline delay, within the declared uncertainty of its mapping.
-        assert abs(cam_s - (truth_s + CAM_PIPELINE_S)) <= unc_s + QUANTIZATION_S, (k, cam_s - truth_s)
+        assert abs(cam_s - (truth_s + saved.stamp_delay_s)) <= unc_s + QUANTIZATION_S, (k, cam_s - truth_s)
         for firsts, period_s in ((glove_first, GLOVE_POLL_S), (controller_first, CONTROLLER_POLL_S)):
             if k not in firsts:
                 continue  # a stall swallowed every poll that would have first shown this event
@@ -283,15 +297,18 @@ def assert_saved_artifacts_agree_with_truth(saved: Saved, *, observed_by_camera:
             poll_delay_s = poll_s - truth_s
             # Relative time between two sources: known pipeline minus known poll delay, within the camera's
             # declared uncertainty. The poll-time source adds none: its time is host time.
-            assert abs((cam_s - poll_s) - (CAM_PIPELINE_S - poll_delay_s)) <= unc_s + QUANTIZATION_S, k
+            assert abs((cam_s - poll_s) - (saved.stamp_delay_s - poll_delay_s)) <= unc_s + QUANTIZATION_S, k
             # The same claim in the bound a reader can state without knowing the delays exactly.
-            assert abs(cam_s - poll_s) <= unc_s + CAM_PIPELINE_S + max(poll_delay_s, period_s) + QUANTIZATION_S
+            assert (
+                abs(cam_s - poll_s) <= unc_s + saved.stamp_delay_s + max(poll_delay_s, period_s) + QUANTIZATION_S
+            )
             paired += 1
     assert paired
 
 
-async def test_camera_events_line_up_with_host_polled_sources_in_the_saved_timestamps(tmp_path):
-    saved = await run_take(tmp_path, cam_clock=default_cam_clock())
+@pytest.mark.parametrize("basis", list(CAMERA_BASES), ids=lambda b: b.name)
+async def test_camera_events_line_up_with_host_polled_sources_in_the_saved_timestamps(tmp_path, basis):
+    saved = await run_take(tmp_path, cam_clock=default_cam_clock(), basis=basis)
     assert saved.feed_failure == "cam: the LiveKit track was lost"
     assert len(saved.camera_t) == EVENTS
     assert set(saved.glove_k) == set(saved.controller_k) == set(range(EVENTS))
@@ -363,6 +380,9 @@ def assert_saved_artifacts_agree_with_truth_for(saved: Saved, ks: set[int]) -> N
     glove_first = first_poll_showing(saved.glove_t, saved.glove_k)
     for k in ks:
         truth_s = event_time_s(k)
-        assert abs(cam_by_k[k] - (truth_s + CAM_PIPELINE_S)) <= unc_by_k[k] + QUANTIZATION_S, k
+        assert abs(cam_by_k[k] - (truth_s + saved.stamp_delay_s)) <= unc_by_k[k] + QUANTIZATION_S, k
         poll_s = glove_first[k]
-        assert abs((cam_by_k[k] - poll_s) - (CAM_PIPELINE_S - (poll_s - truth_s))) <= unc_by_k[k] + QUANTIZATION_S
+        assert (
+            abs((cam_by_k[k] - poll_s) - (saved.stamp_delay_s - (poll_s - truth_s)))
+            <= unc_by_k[k] + QUANTIZATION_S
+        )

From 84afaa028f0c5ad7aa5f89f841982f78e560247f Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 17:12:49 -0800
Subject: [PATCH 46/54] egocap: keep the clock-sync client importable without
 livekit

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/backend/egocap_web/livekit_clock_sync.py | 7 +++++--
 1 file changed, 5 insertions(+), 2 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/livekit_clock_sync.py b/examples/egocap/backend/egocap_web/livekit_clock_sync.py
index 5ac228c3d0..df286d1564 100644
--- a/examples/egocap/backend/egocap_web/livekit_clock_sync.py
+++ b/examples/egocap/backend/egocap_web/livekit_clock_sync.py
@@ -23,10 +23,13 @@
 import time
 from collections.abc import Callable
 
-from livekit import rtc
-
 from .clock_exchange import ClockEstimator, ClockMapping, Exchange
 
+try:
+    from livekit import rtc
+except ImportError:  # the optional "livekit" extra is not installed; annotations only, nothing runs without it
+    rtc = None
+
 logger = logging.getLogger("isaaccapture.egocap.livekit_clock_sync")
 
 CLOCK_SYNC_TOPIC = "isaaccapture.clock-sync"

From fa94818a65fb3ee871864a86c8c82c11b3972008 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 17:14:14 -0800
Subject: [PATCH 47/54] egocap: describe the LiveKit timestamp bases and
 clock-sync recording as the code now has them

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md       | 20 ++++++++++++++------
 examples/egocap/capture_server/README.md |  8 ++++----
 2 files changed, 18 insertions(+), 10 deletions(-)

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index 30952ee889..c1adc04b32 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -26,15 +26,17 @@ livekit:
   url: wss://LIVEKIT_HOST
   room: sensing-preview
   publisher: orin-sensing
-  timestamp_basis: capture_unix_us
+  timestamp_basis: monotonic_us
   streams:
     - {name: Head left, track: sensing-left, width: 1280, height: 720, fps: 30}
 ```
 
 - `track` must equal the name the publisher gives the track (the emulator's `livekit=NAME`).
 - `publisher` must equal the identity in the publisher's join token.
-- Preview works with any `timestamp_basis`. Recording needs `capture_unix_us` and `width`, `height` and
-  `fps`; recording is refused while any offered stream lacks them.
+- `timestamp_basis` (default `monotonic_us`) must equal what the publisher stamps; the values are listed in the
+  [streams file reference](capture_server/README.md#the---livekit-streams-file). Preview works with any of them.
+  Recording needs a monotonic basis, `monotonic_us` or `capture_monotonic_us`, and `width`, `height` and `fps`;
+  recording is refused while any offered stream lacks them.
 
 Start CaptureServer with the file (add `--mock` for synthetic tracking):
 
@@ -67,8 +69,10 @@ uv run python tools/livekit_orin_emulator.py \
   --width 1280 --height 720 --fps 30
 ```
 
-`--add-stream sensor=N,livekit=NAME` is repeatable. `--timestamp-basis` takes `capture_unix_us` (default),
-`processing_unix_us` or `monotonic_us`; set the same value in the streams file. Frames go through a software
+`--add-stream sensor=N,livekit=NAME` is repeatable. `--timestamp-basis` takes `capture_monotonic_us` (default),
+`monotonic_us`, `capture_unix_us` or `processing_unix_us`; set the same value in the streams file. The Orin's
+sender (`--timestamp-basis=` on the sensing app) takes `monotonic_us` (default), `capture_monotonic_us` or
+`processing_unix_us`. Both publishers answer the PC's clock-sync requests, which recording relies on. Frames go through a software
 encoder, so this checks the PC side and the metadata, not the Jetson encoder.
 
 ## 4. Preview and record on the PC
@@ -85,4 +89,8 @@ uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
   reports the preview as unavailable.
 - Recording joins the room with its own subscribe-only token signed with the same key pair. It starts only
   when every offered stream is recordable (see step 1) and stops with a reason if a frame cannot be recorded
-  honestly. The backend must run on the machine whose clock CaptureServer reports.
+  honestly. The backend must run on the machine whose clock CaptureServer reports: recording is refused unless
+  CaptureServer's URL is a loopback address.
+- Recording maps the publisher's monotonic timestamps onto the PC's clock by sending the publisher clock-sync
+  requests (data messages on topic `isaaccapture.clock-sync`) and reading its replies. The publisher must stay
+  in the room and answer them; without replies the mapping goes stale.
diff --git a/examples/egocap/capture_server/README.md b/examples/egocap/capture_server/README.md
index 11e4b6b318..881fe056fa 100644
--- a/examples/egocap/capture_server/README.md
+++ b/examples/egocap/capture_server/README.md
@@ -594,7 +594,7 @@ All enums are IntEnum classes. Supply enum members to the Python API; incoming n
 | `ImageCodec` | `JPEG=1` |
 | `ClockDomain` | `CAPTURE_HOST_MONOTONIC=1` |
 | `TimeUnit` | `NANOSECONDS=1` |
-| `LiveKitTimestampBasis` | `PUBLISHER_MONOTONIC_US=1`, `PUBLISHER_PROCESSING_UNIX_US=2`, `SENSOR_CAPTURE_UNIX_US=3` |
+| `LiveKitTimestampBasis` | `PUBLISHER_MONOTONIC_US=1`, `PUBLISHER_PROCESSING_UNIX_US=2`, `SENSOR_CAPTURE_UNIX_US=3`, `SENSOR_CAPTURE_MONOTONIC_US=4` |
 | `SampleTimeSemantics` | `HOST_POLL=1` |
 | `PoseRepresentation` | `POSITION_QUATERNION=1` |
 | `QuaternionOrder` | `XYZW=1` |
@@ -1229,7 +1229,7 @@ A `streams` entry with `kind` `LIVEKIT_IMAGE=3` says where a camera's video is p
 | `room` | Nonempty string of at most 512 characters. | The room to join. |
 | `publisher` | Nonempty string of at most 512 characters. | The publishing participant's identity. |
 | `track` | Nonempty string of at most 512 characters. | The published track's name; unique per `publisher`. |
-| `timestamp_basis` | `LiveKitTimestampBasis`: `PUBLISHER_MONOTONIC_US=1`, `PUBLISHER_PROCESSING_UNIX_US=2`, `SENSOR_CAPTURE_UNIX_US=3`. | What the frame's `user_timestamp_us` means. Only `SENSOR_CAPTURE_UNIX_US` is a capture time; the other two are not recordable as one. |
+| `timestamp_basis` | `LiveKitTimestampBasis`: `PUBLISHER_MONOTONIC_US=1`, `PUBLISHER_PROCESSING_UNIX_US=2`, `SENSOR_CAPTURE_UNIX_US=3`, `SENSOR_CAPTURE_MONOTONIC_US=4`. | What the frame's `user_timestamp_us` means. 1: the publisher's monotonic clock when the frame was ready to encode. 2: Unix processing time on the publisher. 3: Unix time of the sensor's capture event. 4: the sensor's capture event on the publisher's monotonic clock. Only 1 and 4 are recordable, using the publisher's clock-sync replies; 2 and 3 are preview only. |
 | `width`, `height` | Positive integer, or null (the key may be omitted). | The configured frame size, or null when not known. |
 | `fps` | Finite positive number, or null (the key may be omitted). | The configured frame rate, or null when not known. |
 
@@ -1244,13 +1244,13 @@ livekit:
   url: wss://LIVEKIT_HOST            # ws:// or wss://
   room: sensing-preview
   publisher: orin-sensing
-  timestamp_basis: capture_unix_us   # monotonic_us (default), processing_unix_us or capture_unix_us
+  timestamp_basis: monotonic_us      # monotonic_us (default), capture_monotonic_us, processing_unix_us or capture_unix_us
   streams:                           # may be empty
     - {name: Head left, track: sensing-left, width: 2560, height: 1984, fps: 30}
     - {name: Head right, track: sensing-right}   # width, height and fps are optional
 ```
 
-`timestamp_basis` applies to every stream and maps to the `LiveKitTimestampBasis` values above (`monotonic_us`=1, `processing_unix_us`=2, `capture_unix_us`=3). `url`, `room` and `publisher` are set once under `livekit`; each stream supplies `name`, `track` and optionally `width`, `height` and `fps`. A LiveKit stream name that equals a camera name configured with `--gmsl-camera` is rejected.
+`timestamp_basis` applies to every stream and maps to the `LiveKitTimestampBasis` values above (`monotonic_us`=1, `processing_unix_us`=2, `capture_unix_us`=3, `capture_monotonic_us`=4). `url`, `room` and `publisher` are set once under `livekit`; each stream supplies `name`, `track` and optionally `width`, `height` and `fps`. A LiveKit stream name that equals a camera name configured with `--gmsl-camera` is rejected.
 
 Each WebSocket binary message consists of a 32-byte header followed immediately by a payload. For CaptureFrame, that payload is the packed tracking blob defined by SessionInit. For CaptureImage, it is the JPEG bytes. The header itself contains no JSON and no field-name strings.
 

From 503353c8c9c625048592723e9eda3e5c4e7bcabd Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Thu, 5 Nov 2026 17:20:17 -0800
Subject: [PATCH 48/54] egocap: use a recordable timestamp basis in the budget
 tests and wrap one docstring line

The ingress and readiness tests built streams on a basis that is no longer
recordable, so no frame counted toward the budget. Use the sensor-capture
monotonic basis, which is.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/backend/egocap_web/clock_exchange.py        | 4 ++--
 examples/egocap/tests/backend/test_app_livekit_recording.py | 6 +++---
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/clock_exchange.py b/examples/egocap/backend/egocap_web/clock_exchange.py
index 1f59af38e1..aa398c84ba 100644
--- a/examples/egocap/backend/egocap_web/clock_exchange.py
+++ b/examples/egocap/backend/egocap_web/clock_exchange.py
@@ -143,8 +143,8 @@ def add(self, exchange: Exchange) -> str | None:
     def mapping(self, now_ns: int) -> ClockMapping | None:
         """The current mapping, or None when there is none yet or no exchange arrived within the stale limit.
 
-        The uncertainty is aged to ``now_ns``: while replies are late the offset's drift allowance keeps growing, so
-        a budget check on a returned mapping never sees a figure older than the call. History is not appended.
+        The uncertainty is aged to ``now_ns``: while replies are late the offset's drift allowance keeps growing,
+        so a budget check on a returned mapping never sees a figure older than the call. History is not appended.
         """
         current = self._current
         if current is None or self._newest_ns is None or now_ns - self._newest_ns > self._stale_after_ns:
diff --git a/examples/egocap/tests/backend/test_app_livekit_recording.py b/examples/egocap/tests/backend/test_app_livekit_recording.py
index 6b4fc200fe..1f9f9a9646 100644
--- a/examples/egocap/tests/backend/test_app_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_app_livekit_recording.py
@@ -130,7 +130,7 @@ def test_readiness_names_a_stream_without_geometry(accepted_tracking):
 
 
 def _full_size_streams(count):
-    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
     return [_full(16 + i, capture) for i in range(count)]
 
 
@@ -223,7 +223,7 @@ def test_without_livekit_streams_the_ingress_budget_is_the_jpeg_allowance():
 
 
 def test_readiness_refuses_livekit_recording_when_capture_server_is_remote(accepted_tracking):
-    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
     check = app_module._recording_readiness_check(
         _ready_monitor([_stream(16, capture)]), None, "ws://10.0.0.5:8082"
     )
@@ -232,7 +232,7 @@ def test_readiness_refuses_livekit_recording_when_capture_server_is_remote(accep
 
 
 def test_readiness_accepts_livekit_recording_with_a_loopback_capture_server(accepted_tracking):
-    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_UNIX_US
+    capture = p.LiveKitTimestampBasis.SENSOR_CAPTURE_MONOTONIC_US
     check = app_module._recording_readiness_check(
         _ready_monitor([_stream(16, capture)]), None, "ws://127.0.0.1:8082"
     )

From 4828868ae493b83db0e6c36783a63328cadad703 Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Fri, 6 Nov 2026 12:53:38 -0800
Subject: [PATCH 49/54] egocap: the tile's frame effect reads the current clock
 and basis

The effect runs once per track but the clock arrives after it, so it closed over
a null clock and never showed latency. It now reads both through refs.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../frontend/src/LiveKitCameraTile.test.tsx   | 52 +++++++++++++++++++
 .../egocap/frontend/src/LiveKitCameraTile.tsx | 12 +++--
 2 files changed, 61 insertions(+), 3 deletions(-)

diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index df7b56224a..39a01ead8d 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -502,4 +502,56 @@ describe("LiveKitCameraTile measured latency", () => {
       delete (document as any).hidden;
     }
   });
+
+  const rerenderWith = (rerender: (ui: any) => void, track: any, clock: { mapping: () => any } | null, basis: number) =>
+    rerender(<LiveKitCameraTile name="Head" track={track} phase="connected" primary={false} clock={clock as any} basis={basis} />);
+
+  it("picks up a clock that arrives after the track, on the same track object", () => {
+    const track = stampedTrack();
+    const { rerender } = renderWith(track, null);
+    presentFrame(1, frame);
+    windows(1);
+    presentFrame(1, frame);
+    windows(1);
+    expect(statsTexts()[1]).toBe("– ms latency");
+    rerenderWith(rerender, track, { mapping: () => mappingOf() }, 4);
+    presentFrame(1, frame);
+    windows(1);
+    expect(statsTexts()[1]).toBe("72 ms latency");
+  });
+
+  it("starts and stops taking samples when the basis changes, without re-attaching the track", () => {
+    const clock = { mapping: () => mappingOf() };
+    const track = stampedTrack();
+    const { rerender } = renderWith(track, clock, 2);
+    presentFrame(1, frame);
+    expect(track.lookupFrameMetadata).not.toHaveBeenCalled();
+    windows(1);
+    rerenderWith(rerender, track, clock, 4);
+    presentFrame(1, frame);
+    expect(track.lookupFrameMetadata).toHaveBeenCalledTimes(1);
+    windows(1);
+    expect(statsTexts()[1]).toBe("72 ms latency");
+    rerenderWith(rerender, track, clock, 2);
+    presentFrame(1, frame);
+    expect(track.lookupFrameMetadata).toHaveBeenCalledTimes(1);
+    windows(1);
+    expect(statsTexts()[1]).toBe("– ms latency");
+  });
+
+  it("does not re-run the frame effect when the clock or basis changes", () => {
+    const track = stampedTrack();
+    const { rerender, container } = renderWith(track, null, 2);
+    const video = container.querySelector("video")!;
+    expect(frameCallbacks).toHaveLength(1);
+    rerenderWith(rerender, track, { mapping: () => mappingOf() }, 4);
+    rerenderWith(rerender, track, { mapping: () => mappingOf(2) }, 1);
+    expect(frameCallbacks).toHaveLength(1);
+    expect((HTMLVideoElement.prototype as any).cancelVideoFrameCallback).not.toHaveBeenCalled();
+    expect(track.attach).toHaveBeenCalledTimes(1);
+    expect(track.detach).not.toHaveBeenCalled();
+    expect(container.querySelector("video")).toBe(video);
+    presentFrame(1, frame);
+    expect(frameCallbacks).toHaveLength(1);
+  });
 });
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 223c6863ce..1245966cb0 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -65,6 +65,12 @@ export function LiveKitCameraTile({
   basis?: number;
 }) {
   const videoRef = useRef<HTMLVideoElement | null>(null);
+  // The frame effect runs once per track, but the clock arrives (and the basis can change) after the track does, so
+  // it reads their current values through refs instead of the values it closed over when it started.
+  const clockRef = useRef<LiveKitClockSync | null>(clock ?? null);
+  clockRef.current = clock ?? null;
+  const basisRef = useRef<number>(basis);
+  basisRef.current = basis;
   const lastFrameAtRef = useRef<number | null>(null);
   // Cumulative presented-frame count of the newest frame callback, and the count at the start of the window.
   // The newest frame callback's cumulative presented-frame count and that frame's own presentation time (ms).
@@ -118,10 +124,10 @@ export function LiveKitCameraTile({
         frameFieldsRef.current = Object.keys(metadata).sort().join(", ");
         // The publisher's stamp for exactly this frame, by its RTP timestamp, against its expected display time.
         const rtp = (metadata as { rtpTimestamp?: number }).rtpTimestamp;
-        if (MONOTONIC_TIMESTAMP_BASES.includes(basis) && typeof rtp === "number" && "lookupFrameMetadata" in track) {
+        if (MONOTONIC_TIMESTAMP_BASES.includes(basisRef.current) && typeof rtp === "number" && "lookupFrameMetadata" in track) {
           const stamp = (track as { lookupFrameMetadata: (a: { rtpTimestamp: number }) => { userTimestamp: bigint } | undefined })
             .lookupFrameMetadata({ rtpTimestamp: rtp });
-          const sample = latencySample(metadata.expectedDisplayTime, stamp, clock?.mapping() ?? null);
+          const sample = latencySample(metadata.expectedDisplayTime, stamp, clockRef.current?.mapping() ?? null);
           if (sample !== null) {
             const samples = latencySamplesRef.current;
             samples.push(sample);
@@ -148,7 +154,7 @@ export function LiveKitCameraTile({
       // current epoch count, so a window spanning a discontinuity has no figure.
       const samples = latencySamplesRef.current;
       latencySamplesRef.current = [];
-      const mapping = clock?.mapping() ?? null;
+      const mapping = clockRef.current?.mapping() ?? null;
       const summary = mapping === null ? null : summarizeLatency(samples, mapping.epoch);
       const latencyText = summary === null ? NO_LATENCY : `${summary.mean.toFixed(0)} ms latency`;
       setLatencyDetail(summary === null ? "" : `±${summary.uncertaintyMs.toFixed(1)} ms, 95th percentile ${summary.p95.toFixed(0)} ms`);

From 77cb87b60b574b4ea313c8fa22940e22d63f293e Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Fri, 6 Nov 2026 13:05:23 -0800
Subject: [PATCH 50/54] egocap: a silent track's failure says what is wrong
 with the clock mapping

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../backend/egocap_web/livekit_recording.py       | 15 ++++++++++++++-
 1 file changed, 14 insertions(+), 1 deletion(-)

diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index bf33f272c5..6eb98bf290 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -201,6 +201,17 @@ def _fail(self, reason: str) -> None:
             if self._on_failure is not None:
                 self._on_failure(reason)
 
+    def _clock_problem(self) -> str:
+        """What is wrong with the publisher's clock mapping right now, as a suffix for a failure reason (or "")."""
+        if self._clock.discontinuity:
+            return "; the publisher's clock mapping jumped"
+        mapping = self._clock.mapping()
+        if mapping is None:
+            return "; no current clock mapping from the publisher (its clock-sync replies stopped)"
+        if mapping.uncertainty_ns > self._max_uncertainty_ns:
+            return f"; the clock mapping is uncertain by {mapping.uncertainty_ns / 1e6:.2f} ms, over the budget"
+        return ""
+
     async def _run(self, stream_id: int) -> None:
         """Feed one stream until the take fails or the feed is stopped."""
         stream = self._streams[stream_id]
@@ -213,9 +224,11 @@ async def _run(self, stream_id: int) -> None:
             try:
                 frame = await self._receiver.next_frame_or_lost(stream_id, timeout=_MAX_SILENCE_S)
             except asyncio.TimeoutError:
-                # A track can stay published and send nothing; a take must not wait on it forever.
+                # A track can stay published and send nothing; a take must not wait on it forever. With no frame
+                # to carry the check, the clock mapping is judged here too, so a dead publisher says that it is.
                 self._fail(
                     f"{stream.name}: no frame for {_MAX_SILENCE_S:.0f} s although the track is still published"
+                    + self._clock_problem()
                 )
                 return
             if frame is None:

From 2195846ca6331422a2846e1891b652d3724631cf Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Fri, 6 Nov 2026 13:14:44 -0800
Subject: [PATCH 51/54] egocap: tests follow the merged receiver and feed

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 .../tests/backend/test_livekit_clock_sync.py  | 12 ++-
 .../tests/backend/test_livekit_recording.py   | 94 ++++++++++++++++++-
 .../tests/backend/test_recording_adapter.py   |  7 +-
 .../tests/backend/test_synthetic_timeline.py  |  6 +-
 4 files changed, 110 insertions(+), 9 deletions(-)

diff --git a/examples/egocap/tests/backend/test_livekit_clock_sync.py b/examples/egocap/tests/backend/test_livekit_clock_sync.py
index 7c0ca1290c..b7e793b6a7 100644
--- a/examples/egocap/tests/backend/test_livekit_clock_sync.py
+++ b/examples/egocap/tests/backend/test_livekit_clock_sync.py
@@ -43,7 +43,7 @@ def off(self, name: str, handler: object) -> None:
         self.off_calls.append((name, handler))
         self.handlers.pop(name, None)
 
-    async def connect(self, url: str, token: str) -> None:
+    async def connect(self, url: str, token: str, options: object = None) -> None:
         pass
 
     async def disconnect(self) -> None:
@@ -179,7 +179,15 @@ async def test_stop_cancels_task_and_removes_handler():
 
 
 def receiver(monkeypatch: pytest.MonkeyPatch, **kwargs: object) -> lr.LiveKitFrameReceiver:
-    monkeypatch.setattr(lr, "rtc", SimpleNamespace(Room=FakeRoom, TrackKind=SimpleNamespace(KIND_VIDEO="video")))
+    monkeypatch.setattr(
+        lr,
+        "rtc",
+        SimpleNamespace(
+            Room=FakeRoom,
+            RoomOptions=lambda **f: SimpleNamespace(**f),
+            TrackKind=SimpleNamespace(KIND_VIDEO="video"),
+        ),
+    )
     stream = lr.p.LiveKitCameraStream(
         stream_id=1, name="cam", track="left", url="ws://lk.test", room="room", publisher=PUBLISHER
     )
diff --git a/examples/egocap/tests/backend/test_livekit_recording.py b/examples/egocap/tests/backend/test_livekit_recording.py
index 6fa17d708e..02532e225e 100644
--- a/examples/egocap/tests/backend/test_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_livekit_recording.py
@@ -152,8 +152,8 @@ def __init__(self, frames, clock_sync, flip) -> None:
         super().__init__(frames, clock_sync)
         self._flip = flip
 
-    async def next_frame_or_lost(self, stream_id):
-        frame = await super().next_frame_or_lost(stream_id)
+    async def next_frame_or_lost(self, stream_id, timeout=None):
+        frame = await super().next_frame_or_lost(stream_id, timeout)
         if len(self.calls) == 2:
             self._flip(self.clock_sync)
         return frame
@@ -300,7 +300,7 @@ def __init__(self, scripted: list[tuple[int, ReceivedFrame]]) -> None:
             super().__init__({}, client)
             self.scripted = scripted
 
-        async def next_frame_or_lost(self, stream_id: int) -> ReceivedFrame | None:
+        async def next_frame_or_lost(self, stream_id: int, timeout=None) -> ReceivedFrame | None:
             if not self.scripted:
                 await asyncio.Event().wait()
             at_ns, received = self.scripted.pop(0)
@@ -610,6 +610,94 @@ async def next_frame_or_lost(self, stream_id, timeout=None):
     assert reasons == [feed.failure]
 
 
+class _SilentReceiver(FakeReceiver):
+    async def next_frame_or_lost(self, stream_id, timeout=None):
+        raise asyncio.TimeoutError
+
+
+async def _silent_failure(clock: FakeClockSync) -> str | None:
+    feed = _feed(
+        _SilentReceiver({}, clock), [_stream(16, "Head left")], FakeIngress(), max_uncertainty_ns=5_000_000
+    )
+    feed.start()
+    await _settle()
+    await feed.stop()
+    return feed.failure
+
+
+_SILENCE = "Head left: no frame for 5 s although the track is still published"
+
+
+async def test_silence_with_a_healthy_clock_has_no_clock_suffix():
+    assert await _silent_failure(FakeClockSync()) == _SILENCE
+
+
+async def test_silence_with_a_missing_mapping_names_the_stopped_clock_sync_replies():
+    clock = FakeClockSync()
+    clock.available = False
+    failure = await _silent_failure(clock)
+    assert failure == _SILENCE + "; no current clock mapping from the publisher (its clock-sync replies stopped)"
+
+
+async def test_silence_with_a_clock_discontinuity_names_the_jump():
+    clock = FakeClockSync()
+    clock.discontinuity = True
+    assert await _silent_failure(clock) == _SILENCE + "; the publisher's clock mapping jumped"
+
+
+async def test_silence_with_uncertainty_over_budget_names_the_budget():
+    failure = await _silent_failure(FakeClockSync(uncertainty_ns=5_000_001))
+    assert failure == _SILENCE + "; the clock mapping is uncertain by 5.00 ms, over the budget"
+
+
+async def test_a_discontinuity_flag_wins_over_a_missing_mapping_in_the_silence_suffix():
+    clock = FakeClockSync()
+    clock.discontinuity = True
+    clock.available = False
+    failure = await _silent_failure(clock)
+    assert failure is not None and failure.endswith("the publisher's clock mapping jumped")
+
+
+async def test_overflow_and_publication_change_still_fail_the_take_while_timing_checks_are_active():
+    for field, text in (
+        ("queue_overflow", "the recorder fell behind and dropped 2 frame(s)"),
+        ("publication_changes", "the camera's publication was replaced during the take"),
+    ):
+        receiver = FakeReceiver({16: [_received(16, 1_000_000)]}, FakeClockSync(uncertainty_ns=4_000_000))
+        receiver.gates[16] = asyncio.Event()
+        ingress = FakeIngress()
+        feed = _feed(receiver, [_stream(16, "Head left")], ingress, max_uncertainty_ns=5_000_000)
+        feed.start()
+        setattr(receiver.counters[16], field, 2 if field == "queue_overflow" else 1)
+        receiver.gates[16].set()
+        await _settle()
+        await feed.stop()
+        assert ingress.offered == []
+        assert feed.failure == f"Head left: {text}"
+
+
+async def test_a_healthy_take_with_stride_two_frame_ids_and_a_valid_mapping_records_every_frame():
+    receiver = FakeReceiver({16: [_received(16, k * 1_000_000) for k in range(1, 6)]})
+    # The receiver accounts frame ids as they arrive; a paced publisher numbers 2, 4, 6... which is not loss.
+    for fid in (2, 4, 6, 8, 10):
+        lr_counters = receiver.counters[16]
+        lrec.LiveKitFrameReceiver._account(lr_counters, fid)
+    ingress = FakeIngress()
+    feed = _feed(receiver, [_stream(16, "Head left")], ingress, max_uncertainty_ns=5_000_000)
+    feed.start()
+    await _settle()
+    await feed.stop()
+    assert feed.failure is None
+    assert [m.capture_time for m in ingress.offered] == [11.0, 12.0, 13.0, 14.0, 15.0]
+    assert feed.loss()["Head left"] == {
+        "received": 5,
+        "queue_overflow": 0,
+        "publication_changes": 0,
+        "missing_frames": 0,
+        "frame_id_resets": 0,
+    }
+
+
 async def test_the_feed_asks_the_receiver_to_time_out_at_the_silence_limit():
     receiver = FakeReceiver({})
     feed = _feed(receiver, [_stream(16, "Head left")], FakeIngress())
diff --git a/examples/egocap/tests/backend/test_recording_adapter.py b/examples/egocap/tests/backend/test_recording_adapter.py
index 2ffcb750d9..9c18cf11e6 100644
--- a/examples/egocap/tests/backend/test_recording_adapter.py
+++ b/examples/egocap/tests/backend/test_recording_adapter.py
@@ -740,8 +740,10 @@ def test_pico_and_manus_samples_are_both_stamped_with_the_one_host_poll_frame_ti
 
 
 async def test_livekit_video_and_tracking_from_one_frame_share_the_pc_monotonic_timeline():
+    from collections import defaultdict
+
     from egocap_web.clock_exchange import ClockEstimator, Exchange
-    from egocap_web.livekit_receiver import ReceivedFrame
+    from egocap_web.livekit_receiver import ReceivedFrame, StreamCounters
     from egocap_web.livekit_recording import LiveKitRecordingFeed
 
     S = 1_000_000_000
@@ -774,8 +776,9 @@ class Receiver:
 
         def __init__(self, frames):
             self.frames = list(frames)
+            self.counters = defaultdict(StreamCounters)
 
-        async def next_frame_or_lost(self, stream_id):
+        async def next_frame_or_lost(self, stream_id, timeout=None):
             return self.frames.pop(0) if self.frames else None
 
     class Ingress:
diff --git a/examples/egocap/tests/backend/test_synthetic_timeline.py b/examples/egocap/tests/backend/test_synthetic_timeline.py
index ed5d120b82..15509f59f1 100644
--- a/examples/egocap/tests/backend/test_synthetic_timeline.py
+++ b/examples/egocap/tests/backend/test_synthetic_timeline.py
@@ -16,6 +16,7 @@
 
 import asyncio
 import random
+from collections import defaultdict
 from collections.abc import Callable
 from dataclasses import dataclass, field
 
@@ -24,7 +25,7 @@
 
 from capture_server import protocol as p
 from egocap_web.clock_exchange import ClockEstimator, ClockMapping, Exchange
-from egocap_web.livekit_receiver import ReceivedFrame
+from egocap_web.livekit_receiver import ReceivedFrame, StreamCounters
 from egocap_web.livekit_recording import LiveKitRecordingFeed
 
 S = 1_000_000_000
@@ -150,8 +151,9 @@ def __init__(self, frames: list[ReceivedFrame], device: Device) -> None:
         self._frames = sorted(frames, key=lambda f: f.receive_time_ns)
         self._device = device
         self.clock_sync = SimClockSync(device)
+        self.counters: defaultdict[int, StreamCounters] = defaultdict(StreamCounters)
 
-    async def next_frame_or_lost(self, stream_id: int) -> ReceivedFrame | None:
+    async def next_frame_or_lost(self, stream_id: int, timeout: float | None = None) -> ReceivedFrame | None:
         if not self._frames:
             return None
         frame = self._frames.pop(0)

From 8b516853989c26e345ab94be9085d7cb698296db Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Tue, 10 Nov 2026 11:04:36 -0500
Subject: [PATCH 52/54] egocap: address timing review findings

- Reset the saved timing evidence when a take starts, so a discarded or
  interrupted take's clock mappings cannot be attached to the next take.
- Say in the code, backend README and LiveKit guide that viewer and
  recorder tokens can send data messages, which the clock-sync exchange
  needs, and that the publisher must act only on well-formed clock-sync
  requests.
- Refuse a recording start when the clock mapping is over the uncertainty
  budget or has already jumped, with the reason. Read and validate the
  budget in prepare(), and save the budget the feed actually used.
- Record how many older clock mappings a long take's evidence omits.
- Use frame-ready or sensor-capture wording for the stamp in the tile
  tooltip, latency docs and failure messages; mention the age-based drift
  allowance in the tooltip; drop the frame-callback field list.
- Default the emulator to monotonic_us like the native sender, and correct
  its drift help text.
- Fix three tests (wrong-t1 reply, unreachable ordering, stale comment)
  and add tests for the new behaviour.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md            | 13 +++--
 examples/egocap/backend/README.md             |  4 +-
 examples/egocap/backend/egocap_web/app.py     |  2 +-
 .../backend/egocap_web/livekit_preview.py     | 10 ++--
 .../backend/egocap_web/livekit_recording.py   | 56 ++++++++++++++-----
 .../backend/egocap_web/recording_session.py   |  4 ++
 .../frontend/src/LiveKitCameraTile.test.tsx   | 16 ++----
 .../egocap/frontend/src/LiveKitCameraTile.tsx | 15 ++---
 .../egocap/frontend/src/displayLatency.ts     |  5 +-
 .../egocap/frontend/src/livekitPreview.ts     |  2 +-
 .../frontend/src/useLiveKitPreview.test.ts    |  2 +-
 .../tests/backend/test_livekit_clock_sync.py  |  4 +-
 .../tests/backend/test_livekit_recording.py   |  2 +-
 .../backend/test_livekit_recording_source.py  | 35 ++++++++++--
 .../backend/test_recording_session_livekit.py | 47 +++++++++++++++-
 .../tests/tools/test_livekit_orin_emulator.py |  6 +-
 .../egocap/tools/livekit_orin_emulator.py     | 12 ++--
 17 files changed, 166 insertions(+), 69 deletions(-)

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index c1adc04b32..ca4081cd6a 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -69,8 +69,8 @@ uv run python tools/livekit_orin_emulator.py \
   --width 1280 --height 720 --fps 30
 ```
 
-`--add-stream sensor=N,livekit=NAME` is repeatable. `--timestamp-basis` takes `capture_monotonic_us` (default),
-`monotonic_us`, `capture_unix_us` or `processing_unix_us`; set the same value in the streams file. The Orin's
+`--add-stream sensor=N,livekit=NAME` is repeatable. `--timestamp-basis` takes `monotonic_us` (default),
+`capture_monotonic_us`, `capture_unix_us` or `processing_unix_us`; set the same value in the streams file. The Orin's
 sender (`--timestamp-basis=` on the sensing app) takes `monotonic_us` (default), `capture_monotonic_us` or
 `processing_unix_us`. Both publishers answer the PC's clock-sync requests, which recording relies on. Frames go through a software
 encoder, so this checks the PC side and the metadata, not the Jetson encoder.
@@ -84,10 +84,13 @@ export LIVEKIT_API_KEY=... LIVEKIT_API_SECRET=...
 uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
 ```
 
-- The browser asks `GET /api/livekit-token` for a subscribe-only token, only for a room the current session
-  offers, and shows the stream in the camera grid. Without the key pair the backend answers 503 and the page
+- The browser asks `GET /api/livekit-token` for a viewer token, only for a room the current session
+  offers, and shows the stream in the camera grid. The token can subscribe and send data messages (the clock-sync
+  exchange needs them) but cannot publish media. The route is unauthenticated, so anyone who can reach the
+  backend can send data messages into the room: the publisher must act only on well-formed
+  `isaaccapture.clock-sync` requests and ignore everything else, and should rate-limit its replies. Without the key pair the backend answers 503 and the page
   reports the preview as unavailable.
-- Recording joins the room with its own subscribe-only token signed with the same key pair. It starts only
+- Recording joins the room with its own viewer-capability token signed with the same key pair. It starts only
   when every offered stream is recordable (see step 1) and stops with a reason if a frame cannot be recorded
   honestly. The backend must run on the machine whose clock CaptureServer reports: recording is refused unless
   CaptureServer's URL is a loopback address.
diff --git a/examples/egocap/backend/README.md b/examples/egocap/backend/README.md
index ec58128719..c2241b630e 100644
--- a/examples/egocap/backend/README.md
+++ b/examples/egocap/backend/README.md
@@ -33,7 +33,7 @@ or restarts it.
 | `GET`/`PUT /api/operator-settings` | The operator's station setup: the camera type (`sensing_gmsl` or `oak_d`), camera roles (`ego`, `wrist_left`, `wrist_right`), the task catalog the recording panel's picker offers (`task_file`) and the task it preselects (`preselected_task`). Kept in `.egocap/operator_settings.json` under the recording output (hidden from the recordings browser) (`EGOCAP_OPERATOR_SETTINGS_FILE` overrides the path) so every browser sees the same values. `PUT` names only the fields it changes and uses `X-Control-Token`; legacy JSON `control_token` remains accepted. A wrong token is 403 and bodies above 16 KiB are rejected with 413 before parsing. |
 | `POST /api/task-files/import`, `DELETE /api/task-files/{name}` | Import a task catalog the operator supplies — by `name` + `content` (text uploaded from the browser) — into the imported-catalog directory beside the operator settings, once it parses; and remove an imported one. `POST` and `DELETE` use the `X-Control-Token` header (legacy JSON tokens remain accepted for `POST`); `DELETE` refuses removal of the selected catalog (409); imports also refuse replacement of that catalog until it is deselected. Imports appear in `GET /api/task-files` (as `imported`) and shadow a shipped catalog of the same name. |
 | `GET /api/tools` | The operator tools the Settings drawer offers (headset calibration, glove calibration, fisheye rectification for the SENSING cameras), each with whether this build can launch it. None can yet. |
-| `GET /api/livekit-token?room=ROOM` | Subscribe-only viewer token for a LiveKit room the session offers (404 otherwise, 503 without signing credentials). Which streams exist comes from CaptureServer's session message. |
+| `GET /api/livekit-token?room=ROOM` | Viewer token (subscribe and data messages, no media publishing) for a LiveKit room the session offers (404 otherwise, 503 without signing credentials). Which streams exist comes from CaptureServer's session message. |
 | `GET /api/task-files`, `GET /api/task-files/{name}` | Read-only task-catalog API; see [`../data/taskfiles/README.md`](../data/taskfiles/README.md). |
 | `GET /recordings/...` | The optional recordings browser's API and file routes, off unless `EGOCAP_RECORDINGS_ENABLED=1`; see [`../recordings_frontend/README.md`](../recordings_frontend/README.md). |
 
@@ -55,7 +55,7 @@ Everything else is an environment variable:
 | --- | --- | --- |
 | `EGOCAP_STATION_CONFIG` | unset (development default) | Path to the deployment station YAML described above. |
 | `EGOCAP_CAPTURE_SERVER_URL` | `ws://127.0.0.1:8082` | Where to connect for tracking/camera data. |
-| `LIVEKIT_API_KEY`, `LIVEKIT_API_SECRET` | unset | The LiveKit server's key pair. The backend signs two subscribe-only tokens with it: viewer tokens for `GET /api/livekit-token`, and the recorder's own token. LiveKit recording will not start without both variables; see [`LIVEKIT_PREVIEW.md`](../LIVEKIT_PREVIEW.md). |
+| `LIVEKIT_API_KEY`, `LIVEKIT_API_SECRET` | unset | The LiveKit server's key pair. The backend signs two viewer tokens with it (subscribe and data messages, no media publishing): viewer tokens for `GET /api/livekit-token`, and the recorder's own token. LiveKit recording will not start without both variables; see [`LIVEKIT_PREVIEW.md`](../LIVEKIT_PREVIEW.md). |
 | `EGOCAP_TASK_FILES_DIR` | the shipped `data/taskfiles/` | Which task-catalog directory the task-file API serves. |
 | `EGOCAP_RECORDINGS_ENABLED` | off | Turns on the recordings browser's routes. |
 | `EGOCAP_ALLOWED_ORIGINS` | none (same-origin only) | Comma-separated extra origins allowed to open `WS /api/session` — needed when the frontend is hosted separately or behind a reverse proxy. |
diff --git a/examples/egocap/backend/egocap_web/app.py b/examples/egocap/backend/egocap_web/app.py
index 8bc19537e4..adc690f498 100644
--- a/examples/egocap/backend/egocap_web/app.py
+++ b/examples/egocap/backend/egocap_web/app.py
@@ -154,7 +154,7 @@ def _station_calibration_assets() -> tuple[CalibrationAsset, ...]:
 
 
 def _recorder_livekit_token(room: str) -> str:
-    """A subscribe-only token for the recorder's own LiveKit connection, signed with the backend's key pair."""
+    """A viewer-capability token (subscribe and data messages, no media) for the recorder's LiveKit connection."""
     api_key, signing_key = os.environ.get(API_KEY_ENV, ""), os.environ.get(API_SECRET_ENV, "")
     if not api_key or not signing_key:
         raise RuntimeError(f"{API_KEY_ENV} and {API_SECRET_ENV} must be set to record LiveKit video")
diff --git a/examples/egocap/backend/egocap_web/livekit_preview.py b/examples/egocap/backend/egocap_web/livekit_preview.py
index f962f6b877..2a9470de9a 100644
--- a/examples/egocap/backend/egocap_web/livekit_preview.py
+++ b/examples/egocap/backend/egocap_web/livekit_preview.py
@@ -42,7 +42,7 @@ def _b64url(data: bytes) -> str:
 
 
 def subscriber_token(*, api_key: str, signing_key: str, room: str, now: int, ttl_s: int = TOKEN_TTL_S) -> str:
-    """A signed LiveKit access token that may join ``room`` and subscribe, but not publish."""
+    """A signed LiveKit token that may join ``room``, subscribe and send data messages, but not publish media."""
     header = {"alg": "HS256", "typ": "JWT"}
     claims = {
         "iss": api_key,
@@ -55,7 +55,8 @@ def subscriber_token(*, api_key: str, signing_key: str, room: str, now: int, ttl
             "roomJoin": True,
             "canSubscribe": True,
             "canPublish": False,
-            # Data messages only, for the clock-sync exchange with the publisher; it still cannot publish media.
+            # Data messages only, for the clock-sync exchange with the publisher. Any holder of this token can send
+            # data messages into the room, so the publisher must act only on well-formed clock-sync requests.
             "canPublishData": True,
         },
     }
@@ -69,10 +70,11 @@ def subscriber_token(*, api_key: str, signing_key: str, room: str, now: int, ttl
 
 @router.get("/api/livekit-token")
 async def get_livekit_token(request: Request, room: str = "") -> JSONResponse:
-    """A fresh subscribe-only token for ``room``, which must be one the current session's LiveKit cameras offer.
+    """A fresh viewer token for ``room``, which must be one the current session's LiveKit cameras offer.
 
     Like the camera preview routes this is unauthenticated: anyone who can reach the backend can watch the
-    cameras, which is why the token cannot publish and is only issued for rooms CaptureServer offers.
+    cameras and send data messages into the room. The token cannot publish media, and it is only issued for
+    rooms CaptureServer offers.
     """
     headers = {"Cache-Control": "no-store"}
     started = request.app.state.monitor.native.started
diff --git a/examples/egocap/backend/egocap_web/livekit_recording.py b/examples/egocap/backend/egocap_web/livekit_recording.py
index 6eb98bf290..f44b43d8de 100644
--- a/examples/egocap/backend/egocap_web/livekit_recording.py
+++ b/examples/egocap/backend/egocap_web/livekit_recording.py
@@ -249,7 +249,7 @@ async def _run(self, stream_id: int) -> None:
                 self._fail(f"{stream.name}: the camera's publication was replaced during the take")
                 return
             if frame.user_timestamp_us is None:
-                self._fail(f"{stream.name}: a frame arrived without the publisher's capture timestamp")
+                self._fail(f"{stream.name}: a frame arrived without the publisher's frame timestamp")
                 return
             # A mapping that jumped during the take, or went missing or stale, ends it: frames already recorded
             # keep the mapping they were made under, and none after is recorded with a guessed one.
@@ -272,7 +272,7 @@ async def _run(self, stream_id: int) -> None:
             receive_time = frame.receive_time_ns / 1e9
             age = receive_time - capture_time
             if not -_MAX_FRAME_LEAD_S <= age <= _MAX_FRAME_AGE_S:
-                # A coarse validity check: a capture time far from this host's clock is not a capture time here.
+                # A coarse validity check: a frame time far from this host's clock is not a frame time here.
                 self._fail(
                     f"{stream.name}: the publisher's clock disagrees with this host's (frame age {age:+.3f} s)"
                 )
@@ -293,7 +293,8 @@ async def _run(self, stream_id: int) -> None:
 def recordable_livekit_streams(started: Any) -> tuple[p.LiveKitCameraStream, ...]:
     """The LiveKit streams of a started session that a recording may include.
 
-    A stream is recordable when its timestamps are a capture time and its geometry is configured: the recording
+    A stream is recordable when its timestamps are on the publisher's monotonic clock (frame-ready or sensor
+    capture time) and its geometry is configured: the recording
     schema fixes each source's size and rate when the session opens. The rest remain preview-only.
     """
     if started is None:
@@ -334,6 +335,8 @@ def __init__(
         self._streams: tuple[p.LiveKitCameraStream, ...] = ()
         self._receiver: LiveKitFrameReceiver | None = None
         self._feed: LiveKitRecordingFeed | None = None
+        # Read from the environment once in prepare(), so the feed and the saved evidence use the same figure.
+        self._budget_ns = int(_DEFAULT_BUDGET_MS * 1e6)
 
     async def prepare(self) -> None:
         """Join the room and wait for a usable first frame from every stream; raises if one never arrives.
@@ -344,6 +347,8 @@ async def prepare(self) -> None:
         self._streams = tuple(self._recordable_streams())
         if not self._streams:
             return
+        # A bad budget setting fails the start here, before the room is joined and storage and ingress are live.
+        self._budget_ns = uncertainty_budget_ns()
         receiver = LiveKitFrameReceiver(self._streams, self._make_token(self._streams[0].room), clock_sync=True)
         self._receiver = receiver
         try:
@@ -412,15 +417,32 @@ def _done(finished: asyncio.Future[None]) -> None:
 
         task.add_done_callback(_done)
 
-    async def _wait_for_mapping(self, receiver: LiveKitFrameReceiver) -> None:
-        """Wait for the publisher's first clock mapping; without one its capture times cannot be placed."""
+    def _mapping_problem(self, receiver: LiveKitFrameReceiver) -> str | None:
+        """Why the publisher's clock mapping cannot be used to start a take right now, or None when it can."""
         clock_sync = receiver.clock_sync
+        mapping = None if clock_sync is None else clock_sync.mapping()
+        if clock_sync is None or mapping is None:
+            return "the publisher did not answer clock-sync requests, so its frame times cannot be placed"
+        if clock_sync.discontinuity:
+            return "the publisher's clock mapping jumped before the take started"
+        if mapping.uncertainty_ns > self._budget_ns:
+            return (
+                f"the clock mapping is uncertain by {mapping.uncertainty_ns / 1e6:.2f} ms, "
+                f"over the {self._budget_ns / 1e6:.2f} ms budget ({BUDGET_ENV})"
+            )
+        return None
+
+    async def _wait_for_mapping(self, receiver: LiveKitFrameReceiver) -> None:
+        """Wait for a usable clock mapping: present, continuous and within the uncertainty budget.
+
+        A mapping the feed would reject on its first frame refuses the start instead, with the reason, rather
+        than opening a take that ends at once. The mapping may improve while waiting, so the check repeats until
+        the deadline.
+        """
         deadline = asyncio.get_running_loop().time() + self._first_frame_timeout_s
-        while clock_sync is None or clock_sync.mapping() is None:
+        while (problem := self._mapping_problem(receiver)) is not None:
             if asyncio.get_running_loop().time() >= deadline:
-                raise RuntimeError(
-                    "the publisher did not answer clock-sync requests, so its capture times cannot be used"
-                )
+                raise RuntimeError(problem)
             await asyncio.sleep(0.05)
 
     def start(self, ingress: RecordingIngress, on_failure: Callable[[str], None]) -> None:
@@ -431,7 +453,12 @@ def start(self, ingress: RecordingIngress, on_failure: Callable[[str], None]) ->
         self._receiver.clear_queued()
         source_names = {s.stream_id: s.name for s in self._streams}
         self._feed = LiveKitRecordingFeed(
-            self._receiver, self._streams, ingress, source_names, on_failure=on_failure
+            self._receiver,
+            self._streams,
+            ingress,
+            source_names,
+            on_failure=on_failure,
+            max_uncertainty_ns=self._budget_ns,
         )
         self._feed.start()
 
@@ -439,7 +466,7 @@ def timing_evidence(self) -> dict[str, Any] | None:
         """The clock mappings this take's video was placed on the PC's clock with, for the take's attributes.
 
         None when there is no clock sync (nothing LiveKit was recorded). Read before ``stop()``, which leaves the
-        room.
+        room. A long take keeps only the newest mappings; ``mappings_omitted_oldest`` counts the rest.
         """
         receiver = self._receiver
         clock_sync = None if receiver is None else receiver.clock_sync
@@ -448,7 +475,8 @@ def timing_evidence(self) -> dict[str, Any] | None:
         # The estimator re-reports one exchange with a growing age allowance while no newer one arrives; keep the
         # first report of each exchange.
         unique = {(m.epoch, m.accepted_at_ns): m for m in reversed(clock_sync.estimator.history)}
-        mappings = sorted(unique.values(), key=lambda m: (m.accepted_at_ns, m.epoch))[-_MAX_EVIDENCE_MAPPINGS:]
+        ordered = sorted(unique.values(), key=lambda m: (m.accepted_at_ns, m.epoch))
+        mappings = ordered[-_MAX_EVIDENCE_MAPPINGS:]
         return {
             "clock_mapping": {
                 "method": "four_timestamp_exchange",
@@ -472,7 +500,9 @@ def timing_evidence(self) -> dict[str, Any] | None:
                     }
                     for m in mappings
                 ],
-                "uncertainty_budget_ns": uncertainty_budget_ns(),
+                # A long take keeps only the newest mappings; this counts the older ones left out.
+                "mappings_omitted_oldest": len(ordered) - len(mappings),
+                "uncertainty_budget_ns": self._budget_ns,
                 "discontinuity": clock_sync.discontinuity,
                 "exchanges_rejected": clock_sync.rejected,
                 "mapping_current_at_stop": clock_sync.mapping() is not None,
diff --git a/examples/egocap/backend/egocap_web/recording_session.py b/examples/egocap/backend/egocap_web/recording_session.py
index c803baee4a..2b331e75da 100644
--- a/examples/egocap/backend/egocap_web/recording_session.py
+++ b/examples/egocap/backend/egocap_web/recording_session.py
@@ -417,6 +417,10 @@ async def _start_episode_impl(self, frozen_context: TaskContext) -> EpisodeInfo:
             # construct a new ingress over it; the old consumer thread
             # would be left with nothing owning it.
             raise CoordinatorBusyError("a previous take's ingress has not yet settled")
+        # A take that was discarded or interrupted never consumed its evidence; it must not describe this take.
+        # Operations run one at a time and an unsettled take's ingress is still current (refused above), so no
+        # pending stop can still need the evidence cleared here.
+        self._timing_evidence = None
         if self._livekit_source is None:
             return await self._start_episode_with_storage(frozen_context)
         # LiveKit video must be flowing before any storage is opened, so a missing camera fails the start itself.
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
index 39a01ead8d..46ebc3cf4a 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.test.tsx
@@ -347,7 +347,7 @@ describe("LiveKitCameraTile latency", () => {
     expect(statsTexts().some((t) => /\d ms latency/.test(t))).toBe(false);
   });
 
-  it("lists the sorted frame-callback fields in the latency tooltip", () => {
+  it("explains the latency tooltip without listing the browser's frame-callback fields", () => {
     renderTile();
     presentFrame(1, { rtpTimestamp: 1, expectedDisplayTime: 2 });
     act(() => {
@@ -357,17 +357,9 @@ describe("LiveKitCameraTile latency", () => {
     act(() => {
       vi.advanceTimersByTime(1000);
     });
-    const span = document.querySelectorAll(".camera-stats")[1];
-    expect(span.getAttribute("title")).toContain("reports: expectedDisplayTime, presentationTime, presentedFrames, rtpTimestamp.");
-  });
-
-  it("has no reports text in the tooltip before any frame", () => {
-    renderTile();
-    act(() => {
-      vi.advanceTimersByTime(1000);
-    });
-    const span = document.querySelectorAll(".camera-stats")[1];
-    expect(span?.getAttribute("title") ?? "").not.toContain("reports:");
+    const title = document.querySelectorAll(".camera-stats")[1].getAttribute("title") ?? "";
+    expect(title).toContain("per-frame stamp");
+    expect(title).not.toContain("reports:");
   });
 
   it("keeps the fixed latency span beside 0 FPS for a stale stream", () => {
diff --git a/examples/egocap/frontend/src/LiveKitCameraTile.tsx b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
index 1245966cb0..72c5c8820c 100644
--- a/examples/egocap/frontend/src/LiveKitCameraTile.tsx
+++ b/examples/egocap/frontend/src/LiveKitCameraTile.tsx
@@ -61,7 +61,7 @@ export function LiveKitCameraTile({
   primary: boolean;
   /** Maps the publisher's monotonic clock onto this browser's; latency needs it. */
   clock?: LiveKitClockSync | null;
-  /** What the stream's frame timestamp means; only a capture event on the publisher's monotonic clock counts. */
+  /** What the stream's frame timestamp means; only a basis on the publisher's monotonic clock (frame-ready or sensor capture) gives a latency. */
   basis?: number;
 }) {
   const videoRef = useRef<HTMLVideoElement | null>(null);
@@ -72,13 +72,10 @@ export function LiveKitCameraTile({
   const basisRef = useRef<number>(basis);
   basisRef.current = basis;
   const lastFrameAtRef = useRef<number | null>(null);
-  // Cumulative presented-frame count of the newest frame callback, and the count at the start of the window.
   // The newest frame callback's cumulative presented-frame count and that frame's own presentation time (ms).
   const presentedRef = useRef<{ presented: number; at: number } | null>(null);
+  // The same fields at the start of the current window, for the displayed rate.
   const baselineRef = useRef<{ presented: number; at: number } | null>(null);
-  // Which fields this browser's frame callback reports (it varies by browser), to read off for the latency work.
-  const frameFieldsRef = useRef<string>("");
-  const [frameFields, setFrameFields] = useState<string>("");
   // Latency of each presented frame in the current window, and the label shown for the last full window.
   const latencySamplesRef = useRef<LatencySample[]>([]);
   const [latencyLabel, setLatencyLabel] = useState<string>(NO_LATENCY);
@@ -121,7 +118,6 @@ export function LiveKitCameraTile({
       if (stopped) return;
       callbackId = element.requestVideoFrameCallback((now, metadata) => {
         presentedRef.current = { presented: metadata.presentedFrames, at: metadata.presentationTime ?? now };
-        frameFieldsRef.current = Object.keys(metadata).sort().join(", ");
         // The publisher's stamp for exactly this frame, by its RTP timestamp, against its expected display time.
         const rtp = (metadata as { rtpTimestamp?: number }).rtpTimestamp;
         if (MONOTONIC_TIMESTAMP_BASES.includes(basisRef.current) && typeof rtp === "number" && "lookupFrameMetadata" in track) {
@@ -147,7 +143,6 @@ export function LiveKitCameraTile({
       const last = lastFrameAtRef.current;
       const isStale = last !== null && now - last > FRAME_STALE_AFTER_MS;
       if (isStale) setStale(true);
-      if (frameFieldsRef.current !== "") setFrameFields(frameFieldsRef.current);
       // Displayed rate: the change in the browser's own presented-frame count over the window, not a callback tally.
       const latest = presentedRef.current;
       // The window's latency samples are summarized once and cleared; only those made under the clock mapping's
@@ -213,10 +208,8 @@ export function LiveKitCameraTile({
             className="camera-stats"
             title={
               latencyLabel === NO_LATENCY
-                ? `No latency for the displayed frame: it needs the publisher's per-frame capture stamp (matched by RTP timestamp), a current clock mapping to the publisher, and a stream whose timestamp is a capture event on the publisher's monotonic clock.${
-                    frameFields === "" ? "" : ` This browser's frame callback reports: ${frameFields}.`
-                  }`
-                : `Capture event on the publisher's clock to the frame's expected display on this page, including receive, decode and render (${latencyDetail}); ± is half the clock-exchange round trip plus this browser's timer resolution`
+                ? "No latency for the displayed frame: it needs the publisher's per-frame stamp (matched by RTP timestamp), a current clock mapping to the publisher, and a stream whose timestamp is on the publisher's monotonic clock."
+                : `The publisher's frame stamp (frame-ready or sensor capture, per the stream) to the frame's expected display on this page, including receive, decode and render (${latencyDetail}); ± is half the clock-exchange round trip, the drift the exchange's age allows, and this browser's timer resolution`
             }
           >
             {latencyLabel}
diff --git a/examples/egocap/frontend/src/displayLatency.ts b/examples/egocap/frontend/src/displayLatency.ts
index 1e32e06071..352ad0f00e 100644
--- a/examples/egocap/frontend/src/displayLatency.ts
+++ b/examples/egocap/frontend/src/displayLatency.ts
@@ -3,8 +3,9 @@
 // SPDX-License-Identifier: Apache-2.0
 
 /**
- * Capture-to-display latency of one presented video frame: the publisher's capture stamp for exactly that frame,
- * matched by the frame's RTP timestamp, against the frame's expected display time, both expressed on the
+ * Stamp-to-display latency of one presented video frame: the publisher's stamp for exactly that frame (frame-ready
+ * or sensor capture, whichever the stream's timestamp basis declares), matched by the frame's RTP timestamp,
+ * against the frame's expected display time, both expressed on the
  * publisher's clock through the four-timestamp mapping. A frame with no matching stamp, or with no current
  * mapping, has no latency: nothing is ever matched to the nearest frame.
  */
diff --git a/examples/egocap/frontend/src/livekitPreview.ts b/examples/egocap/frontend/src/livekitPreview.ts
index cad54e38c5..1e0ba0df37 100644
--- a/examples/egocap/frontend/src/livekitPreview.ts
+++ b/examples/egocap/frontend/src/livekitPreview.ts
@@ -15,7 +15,7 @@ export class LiveKitTokenHttpError extends Error {}
 /** The backend's answer was not the expected `{token}` body. */
 export class LiveKitTokenParseError extends Error {}
 
-/** Fetches a fresh subscribe-only token for `room`; throws LiveKitTokenHttpError with the backend's reason. */
+/** Fetches a fresh viewer token (subscribe and data messages, no media publishing) for `room`; throws LiveKitTokenHttpError with the backend's reason. */
 export async function fetchLiveKitToken(room: string, signal?: AbortSignal): Promise<string> {
   const response = await fetch(`/api/livekit-token?room=${encodeURIComponent(room)}`, { signal });
   if (!response.ok) {
diff --git a/examples/egocap/frontend/src/useLiveKitPreview.test.ts b/examples/egocap/frontend/src/useLiveKitPreview.test.ts
index c47850fe3f..fb05e5bda4 100644
--- a/examples/egocap/frontend/src/useLiveKitPreview.test.ts
+++ b/examples/egocap/frontend/src/useLiveKitPreview.test.ts
@@ -23,7 +23,7 @@ vi.mock("livekit-client", async () => {
   };
 });
 
-// The real sync busy-waits on performance.now(), which fake timers freeze.
+// Stands in for the real clock sync, which sends requests on a timer and would add unrelated traffic to these tests.
 const syncs: Array<{ start: ReturnType<typeof vi.fn>; stop: ReturnType<typeof vi.fn>; room: unknown; publisher: string }> = [];
 vi.mock("./liveKitClockSync", () => ({
   LiveKitClockSync: class {
diff --git a/examples/egocap/tests/backend/test_livekit_clock_sync.py b/examples/egocap/tests/backend/test_livekit_clock_sync.py
index b7e793b6a7..b83f66c9b2 100644
--- a/examples/egocap/tests/backend/test_livekit_clock_sync.py
+++ b/examples/egocap/tests/backend/test_livekit_clock_sync.py
@@ -141,9 +141,7 @@ async def test_unrelated_or_malformed_replies_are_ignored(sync, case):
     sync.room.deliver(data, **kwargs)
     assert sync.client.mapping() is None
     assert sync.client.rejected == 0
-    if case == "wrong t1":
-        return  # the client discards the outstanding request on a t1 mismatch, so a later genuine reply is dropped
-    # The request is still outstanding: the genuine reply is accepted afterwards.
+    # The request is still outstanding, even after a reply with the wrong t1: the genuine reply is accepted.
     answer(sync)
     assert sync.client.mapping() is not None
 
diff --git a/examples/egocap/tests/backend/test_livekit_recording.py b/examples/egocap/tests/backend/test_livekit_recording.py
index 02532e225e..31ce77d2f6 100644
--- a/examples/egocap/tests/backend/test_livekit_recording.py
+++ b/examples/egocap/tests/backend/test_livekit_recording.py
@@ -413,7 +413,7 @@ async def test_frame_without_publisher_timestamp_fails():
     await _settle()
     await feed.stop()
     assert ingress.offered == []
-    assert "without the publisher's capture timestamp" in feed.failure
+    assert "without the publisher's frame timestamp" in feed.failure
     assert reasons == [feed.failure]
 
 
diff --git a/examples/egocap/tests/backend/test_livekit_recording_source.py b/examples/egocap/tests/backend/test_livekit_recording_source.py
index 4a8d30e0fa..5234d1e988 100644
--- a/examples/egocap/tests/backend/test_livekit_recording_source.py
+++ b/examples/egocap/tests/backend/test_livekit_recording_source.py
@@ -267,6 +267,32 @@ async def test_a_mapping_that_arrives_late_still_lets_the_take_start():
     await source.stop()
 
 
+async def test_a_mapping_over_the_uncertainty_budget_refuses_the_start_with_the_reason(monkeypatch):
+    monkeypatch.setenv(lrec.BUDGET_ENV, "0.0005")  # 500 ns, below the fake mapping's 1000 ns
+    streams = [livekit_stream(16)]
+    source = make_source(streams, timeout=0.2)
+    with pytest.raises(RuntimeError, match=f"uncertain by .*{lrec.BUDGET_ENV}"):
+        await prepare_with_frames(source, streams)
+    assert FakeReceiver.instances[0].stops == 1
+
+
+async def test_a_mapping_that_already_jumped_refuses_the_start_with_the_reason(monkeypatch):
+    monkeypatch.setattr(FakeClockSync, "discontinuity", True)
+    streams = [livekit_stream(16)]
+    source = make_source(streams, timeout=0.2)
+    with pytest.raises(RuntimeError, match="jumped"):
+        await prepare_with_frames(source, streams)
+    assert FakeReceiver.instances[0].stops == 1
+
+
+async def test_a_bad_budget_setting_fails_prepare_before_the_room_is_joined(monkeypatch):
+    monkeypatch.setenv(lrec.BUDGET_ENV, "not-a-number")
+    source = make_source([livekit_stream(16)])
+    with pytest.raises(ValueError, match=lrec.BUDGET_ENV):
+        await source.prepare()
+    assert FakeReceiver.instances == []
+
+
 async def test_a_failing_join_leaves_the_room_and_propagates():
     FakeReceiver.start_error = ConnectionError("no route")
     source = make_source([livekit_stream(16)])
@@ -447,6 +473,7 @@ async def test_timing_evidence_describes_the_mappings_the_take_was_placed_under(
                 }
                 for m in history
             ],
+            "mappings_omitted_oldest": 0,
             "uncertainty_budget_ns": 5_000_000,
             "discontinuity": True,
             "exchanges_rejected": 4,
@@ -470,11 +497,13 @@ async def test_timing_evidence_carries_only_the_newest_mappings():
     history = history_of(lrec._MAX_EVIDENCE_MAPPINGS + 36)
     receiver.clock_sync = clock_sync_with(history)
 
-    mappings = source.timing_evidence()["clock_mapping"]["mappings"]
+    clock_mapping = source.timing_evidence()["clock_mapping"]
+    mappings = clock_mapping["mappings"]
 
     assert [m["accepted_at_ns"] for m in mappings] == [
         m.accepted_at_ns for m in history[-lrec._MAX_EVIDENCE_MAPPINGS :]
     ]
+    assert clock_mapping["mappings_omitted_oldest"] == 36
 
 
 async def test_an_exchange_reported_again_with_more_uncertainty_is_listed_once_as_first_reported():
@@ -491,8 +520,4 @@ async def test_an_exchange_reported_again_with_more_uncertainty_is_listed_once_a
         (1, 100, 1_000),
         (2, 100, 1_000),
         (1, 200, 1_000),
-    ] or [(m["epoch"], m["accepted_at_ns"], m["uncertainty_ns"]) for m in mappings] == [
-        (2, 100, 1_000),
-        (1, 100, 1_000),
-        (1, 200, 1_000),
     ]
diff --git a/examples/egocap/tests/backend/test_recording_session_livekit.py b/examples/egocap/tests/backend/test_recording_session_livekit.py
index d8957e327c..314a4581e6 100644
--- a/examples/egocap/tests/backend/test_recording_session_livekit.py
+++ b/examples/egocap/tests/backend/test_recording_session_livekit.py
@@ -13,7 +13,14 @@
 import pytest
 
 from egocap_web.recording_session import CoordinatorBusyError, RecordingSessionCoordinator
-from recording_service import FieldSpec, NumericSourceSpec, RecordingPhase, RecordingService, ServiceConfig
+from recording_service import (
+    Disposition,
+    FieldSpec,
+    NumericSourceSpec,
+    RecordingPhase,
+    RecordingService,
+    ServiceConfig,
+)
 
 NUMERIC = NumericSourceSpec("s", (FieldSpec("v", "float64"),))
 
@@ -194,3 +201,41 @@ async def test_the_sources_timing_evidence_is_given_to_the_service_once_before_s
     await coordinator.stop_episode(two.episode_id)
     assert calls == [(one.episode_id, first)]  # the second take's source had none; nothing carried over
     await coordinator.close()
+
+
+async def test_a_discarded_takes_evidence_does_not_describe_the_next_take(tmp_path, monkeypatch):
+    events: list[str] = []
+    calls = spy_on_service(monkeypatch, events)
+    discarded = {"clock_mapping": {"mappings": ["discarded take"]}}
+    coordinator = make_coordinator(tmp_path, EvidenceSource(events, [discarded, None]))
+    await coordinator.open()
+    coordinator.set_task("t")
+
+    one = await coordinator.start_episode()
+    await coordinator.discard_episode(one.episode_id)
+    two = await coordinator.start_episode()
+    await coordinator.stop_episode(two.episode_id)
+
+    assert calls == []  # the second take's source had none, and nothing was inherited from the discarded one
+    await coordinator.close()
+
+
+async def test_an_interrupted_takes_evidence_does_not_describe_the_next_take(tmp_path, monkeypatch):
+    events: list[str] = []
+    calls = spy_on_service(monkeypatch, events)
+    interrupted = {"clock_mapping": {"mappings": ["interrupted take"]}}
+    coordinator = make_coordinator(tmp_path, EvidenceSource(events, [interrupted, None]))
+    await coordinator.open()
+    coordinator.set_task("t")
+
+    one = await coordinator.start_episode()
+    coordinator._readiness_check = lambda: (False, "the camera went away")
+    interrupted_result = await coordinator.stop_episode(one.episode_id)
+    assert interrupted_result.disposition is not Disposition.KEPT
+    _ = await coordinator.discard_pending(one.episode_id)  # a retained take must be settled before another starts
+    coordinator._readiness_check = lambda: (True, None)
+    two = await coordinator.start_episode()
+    await coordinator.stop_episode(two.episode_id)
+
+    assert calls == []
+    await coordinator.close()
diff --git a/examples/egocap/tests/tools/test_livekit_orin_emulator.py b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
index 7fc989e2a7..997e05ead3 100644
--- a/examples/egocap/tests/tools/test_livekit_orin_emulator.py
+++ b/examples/egocap/tests/tools/test_livekit_orin_emulator.py
@@ -39,7 +39,7 @@ def test_parse_valid_streams_and_defaults(token_file):
         1280,
         720,
         30.0,
-        "capture_monotonic_us",
+        "monotonic_us",
     )
 
 
@@ -239,7 +239,9 @@ def test_banner_never_shows_token(token_file, capsys):
 
 
 async def test_stamps_are_taken_together_before_the_frame_is_synthesized(token_file, fake_rtc, monkeypatch):
-    args = emu.parse_args(argv(token_file, "--add-stream=sensor=0,livekit=a", "--fps=200"))
+    args = emu.parse_args(
+        argv(token_file, "--add-stream=sensor=0,livekit=a", "--fps=200", "--timestamp-basis=capture_monotonic_us")
+    )
     args.width, args.height = 4, 4
     now_us = [1_000]
 
diff --git a/examples/egocap/tools/livekit_orin_emulator.py b/examples/egocap/tools/livekit_orin_emulator.py
index 4835ee1653..2db8f77fa6 100644
--- a/examples/egocap/tools/livekit_orin_emulator.py
+++ b/examples/egocap/tools/livekit_orin_emulator.py
@@ -88,10 +88,11 @@ def build_parser() -> argparse.ArgumentParser:
     parser.add_argument(
         "--timestamp-basis",
         choices=("capture_monotonic_us", "capture_unix_us", "processing_unix_us", "monotonic_us"),
-        default="capture_monotonic_us",
-        help="what user_timestamp carries: the emulated Orin's monotonic time at frame generation, which for "
-        "synthetic frames is their capture event (the recordable basis, mapped by clock-sync); or the Unix time "
-        "of it; or the Unix time declared as processing time; or monotonic processing time",
+        default="monotonic_us",
+        help="what user_timestamp carries: monotonic_us is the emulated Orin's monotonic time when the frame is "
+        "ready (what the native sender stamps by default; recordable, mapped by clock-sync); "
+        "capture_monotonic_us is the same clock declared as the sensor capture event (also recordable); "
+        "capture_unix_us and processing_unix_us are Unix-time stamps, which cannot be recorded",
     )
     parser.add_argument(
         "--clock-offset-ms",
@@ -104,7 +105,8 @@ def build_parser() -> argparse.ArgumentParser:
         "--clock-drift-ppm",
         type=float,
         default=0.0,
-        help="the emulated Orin clock gains this many microseconds per second of run time (Unix bases only)",
+        help="the emulated Orin clock gains this many microseconds per second of run time "
+        "(every basis, and the clock-sync replies)",
     )
     parser.add_argument(
         "--pipeline-delay-ms",

From bd423a4ebf94a1090a7a602a407d0f1383f1265e Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Tue, 10 Nov 2026 11:11:01 -0500
Subject: [PATCH 53/54] egocap: state what the clock-sync responders accept and
 bound

The native sender and the emulator both answer only an exact clock-sync request
on the clock-sync topic. Say so, and say what is not bounded, because any
holder of a viewer token can send data messages into the room.

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/LIVEKIT_PREVIEW.md | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/examples/egocap/LIVEKIT_PREVIEW.md b/examples/egocap/LIVEKIT_PREVIEW.md
index ca4081cd6a..d4f829df6a 100644
--- a/examples/egocap/LIVEKIT_PREVIEW.md
+++ b/examples/egocap/LIVEKIT_PREVIEW.md
@@ -87,8 +87,12 @@ uv run uvicorn egocap_web.app:app --app-dir backend --port 8000
 - The browser asks `GET /api/livekit-token` for a viewer token, only for a room the current session
   offers, and shows the stream in the camera grid. The token can subscribe and send data messages (the clock-sync
   exchange needs them) but cannot publish media. The route is unauthenticated, so anyone who can reach the
-  backend can send data messages into the room: the publisher must act only on well-formed
-  `isaaccapture.clock-sync` requests and ignore everything else, and should rate-limit its replies. Without the key pair the backend answers 503 and the page
+  backend can send data messages into the room, so the publisher must act only on well-formed
+  `isaaccapture.clock-sync` requests. Both publishers do: a packet is answered only if its topic is
+  `isaaccapture.clock-sync` and it is exactly a 13-byte request starting with `Q`; everything else is ignored, and a
+  reply goes only to the requester. The native sender keeps at most 16 pending requests and drops the oldest when
+  more arrive. Neither has a per-second rate limit, and the emulator has no bound on pending replies, so keep the
+  LiveKit room and the backend on a trusted network. Without the key pair the backend answers 503 and the page
   reports the preview as unavailable.
 - Recording joins the room with its own viewer-capability token signed with the same key pair. It starts only
   when every offered stream is recordable (see step 1) and stops with a reason if a frame cannot be recorded

From 0a4625a3a402d78f2414b9125286782a26e7af3a Mon Sep 17 00:00:00 2001
From: Gareth Morgan <gmorgan@nvidia.com>
Date: Wed, 11 Nov 2026 00:05:43 -0500
Subject: [PATCH 54/54] egocap: drop two unused imports from the backend app

Co-Authored-By: Claude Sonnet 5.5 <noreply@anthropic.com>
Signed-off-by: Gareth Morgan <gmorgan@nvidia.com>
---
 examples/egocap/backend/egocap_web/app.py | 2 --
 1 file changed, 2 deletions(-)

diff --git a/examples/egocap/backend/egocap_web/app.py b/examples/egocap/backend/egocap_web/app.py
index adc690f498..e8072fb891 100644
--- a/examples/egocap/backend/egocap_web/app.py
+++ b/examples/egocap/backend/egocap_web/app.py
@@ -35,8 +35,6 @@
 from .capture_preview import MAX_CAMERA_JPEG_BYTES
 from .capture_status import CaptureStatusMonitor
 from .config import VisualizationConfig, config_from_env, visualization_from_env
-from .livekit_latency import LiveKitLatencyProbe
-from .livekit_latency import router as livekit_latency_router
 from .livekit_preview import API_KEY_ENV, API_SECRET_ENV, subscriber_token
 from .livekit_preview import router as livekit_preview_router
 from .livekit_receiver import RECEIVER_FRAMES_PER_STREAM