{
  "episode_id": "20260917_133640",
  "device_uid": "d36997d92fc9",
  "device_sn": "126091102913",
  "chunk_index": 0,
  "time_base": "utc_ns",
  "observation_kind": "human_egocentric",
  "not_robot_action": true,
  "duration_s": 682.167,
  "video_container_duration_s": 682.2,
  "training_rgb_hz": 30.0,
  "do_not_train_on_preview_mp4": true,
  "preview_note": "e2-sbs-20260917.mp4 is a 480x360 side-by-side preview. Train on Camera0/video.mp4 and Camera1/video.mp4.",
  "cameras": {
    "left": {
      "file": "Camera0/video.mp4",
      "eye": "left",
      "codec": "hevc",
      "width": 1600,
      "height": 1200,
      "frames": 20466,
      "hz": 30.0,
      "params_group": "tracking"
    },
    "right": {
      "file": "Camera1/video.mp4",
      "eye": "right",
      "codec": "hevc",
      "width": 1600,
      "height": 1200,
      "frames": 20466,
      "hz": 30.0,
      "params_group": "tracking"
    },
    "baseline_mm": 65.94,
    "baseline_from": "extrinsics.position difference, not a measured checkerboard",
    "inter_eye_exposure_start_dt_us_p50": 198.0,
    "inter_eye_exposure_start_dt_us_mean": 151.8,
    "exposure_duration_ms_p50_left": 8.501,
    "exposure_duration_ms_min_left": 3.962,
    "exposure_duration_ms_max_left": 10.0,
    "gain": 1024,
    "dropped_frames_gap_gt_40ms": 0,
    "hfov_pinhole_deg_approx": 117.4,
    "hfov_note": "2*atan((width/2)/focalX) on the left camera. Distortion coefficients were not used. Not a brochure FOV."
  },
  "imu": {
    "accel_hz": 798.91,
    "gyro_hz": 798.91,
    "mag_hz": 200.0,
    "accel_norm_mps2_subsample_mean": 9.83,
    "gyro_rms_5s_median_rad_s": 0.352,
    "accel_starts_before_left_exposure_ms": -124.3,
    "units": {
      "accel": "m/s^2",
      "gyro": "rad/s",
      "mag": "as recorded, not re-scaled"
    }
  },
  "audio": {
    "file": "Audio/audio.mp4",
    "codec": "pcm_s16le",
    "rate_hz": 16000,
    "channels": 2,
    "packet0_minus_left_exposure_start_ms": 96.569,
    "note": "Do not align audio.mp4 and Camera0/video.mp4 at t=0."
  },
  "factory_alignment_s": {
    "imu_to_pose": 0.00147880695,
    "cameras": {
      "rgb-left": 0.00147880695,
      "rgb-right": 0.00150044181
    },
    "accel": 0.0
  },
  "factory_alignment_applied": false,
  "factory_alignment_note": "This package has no head-pose stream, so the factory camera offset was not applied and was not checked.",
  "streams_not_in_episode": [
    "hand_tracking",
    "head_pose",
    "slam",
    "depth",
    "manus",
    "object_boxes",
    "object_masks",
    "object_6dof",
    "contact_force",
    "robot_eef_action",
    "per_joint_confidence"
  ],
  "pii": {
    "method": "human_sample_every_60s",
    "background_person_visible": true,
    "display_text_visible": true,
    "preview_is_not_masked": true
  },
  "join_files": {
    "stereo_index": "stereo_index.jsonl",
    "motion_spans": "motion_spans.jsonl",
    "narration": "narration.jsonl"
  }
}