{
  "episode_id": "20260708_155328",
  "device_uid": "2934393122",
  "time_base": "utc_ns",
  "observation_kind": "human_egocentric",
  "not_robot_action": true,
  "openxr_26_is_not_gripper_7dof": true,
  "training_rgb_hz": 60,
  "preview_hz": 10,
  "do_not_train_on_preview_mp4": true,
  "hand_policy": "keep native samples; use dt_ns; do not resample to 60 Hz",
  "rgb_anchor": "mid_exposure_utc_ns",
  "audio_file_start_minus_rgb0_ns": 288060217,
  "audio_note": "audio packet 0 is later than RGB frame 0. Do not align the two files at t=0.",
  "factory_alignment_s": {
    "imu_to_pose": 0.005356252,
    "cameras": {
      "trackingA": 0.005356252,
      "trackingB": 0.005356252,
      "ctrl-trackingA": 0.005397188,
      "ctrl-trackingB": 0.005397188,
      "rgb-left": -0.009864942,
      "rgb-right": -0.010016962
    },
    "accel": 0.0
  },
  "imu_lookup": "nearest gyro/accel sample at pose_timestamp_ns - imu_to_pose",
  "rgb_pose_offset_applied_ns": 0,
  "rgb_pose_offset_note": "Skin-color distance stays about 3-5 px across +/-40 ms, so the proxy cannot choose a millisecond. Factory -9.9 ms moves the projected wrist 4.7 px (p50) in the 23.4-24.6 s window. Applied offset stays 0. p90 near 46 px is the remaining edge error. Not a checkerboard.",
  "ctrl_gray_in_observation": true,
  "ctrl_gray_note": "Downward pair. Join with rgb_index.ctrl_index. This is not controller_poses.csv.",
  "streams_not_in_episode": [
    "depth",
    "manus",
    "upper_body",
    "object_6dof",
    "contact_force",
    "robot_eef_action",
    "per_joint_confidence"
  ],
  "join_files": {
    "rgb_index": "rgb_index.jsonl",
    "hands": "hands_flags.jsonl",
    "hand_uv": "hand_uv_rgb.jsonl",
    "narration": "narration.jsonl",
    "object_spans": "object_spans.jsonl",
    "offset_sweep": "time_offset_sweep.json"
  }
}