15.96 14.4.21 Reglas de overlap y nesting
- Within an exclusive lane, PhaseIntervals form a gap-aware partition; gaps are Unknown rather than absent records.
- Across different lanes, overlap is expected and preserved.
- A child segment must lie inside the temporal support of its parent, allowing boundary uncertainty overlap.
- An L2 episode may overlap another L2 episode for coordinated or asynchronous actions; overlappingEpisodeIds records the relation.
- Simultaneous boundaries share a simultaneityGroupId or overlapping uncertainty intervals.
- A composite episode may contain several contact changes but must not erase the atomic events.
15.96.1 Ejemplo de coordinación
time --->
WholeBody: Propulsion ===== Flight == Acquisition == Stabilization
LeftHand: Releasing === Transporting === Touching == Loading
RightHand: Supporting == Releasing === Transporting == Touching
LeftFoot: Propulsion ===== Released ================= RecoveringAplanar esta secuencia a una sola etiqueta pierde simultaneidad y causalidad mecánica.