{
  "schemaVersion": "firsthand/episode-1.2",
  "episodeId": "EP_0117_KITCHEN_A",
  "rig": "rig-04",
  "capturedAt": "2026-06-14T09:41:08.220Z",
  "jurisdiction": "US-TX",
  "license": { "type": "commercial", "ownership": "buyer", "exclusive": false },
  "consent": { "participantReleaseId": "REL-4471", "bystandersDeidentified": true, "audioScrubbed": true },
  "durationNs": 30000000000,
  "streams": [
    { "id": "head_rgb", "kind": "rgb", "resolution": [3840, 2160], "fps": 60, "shutter": "global" },
    { "id": "wrist_l_rgb", "kind": "rgb", "resolution": [1920, 1080], "fps": 60 },
    { "id": "wrist_r_rgb", "kind": "rgb", "resolution": [1920, 1080], "fps": 60 },
    { "id": "depth", "kind": "depth", "resolution": [848, 480], "fps": 30, "units": "mm" },
    { "id": "imu", "kind": "imu", "rateHz": 200, "dof": 6 }
  ],
  "sync": { "clock": "ptp", "medianOffsetMs": 1.12, "p99OffsetMs": 1.94, "ceilingMs": 2.0 },
  "calibration": {
    "head_rgb": {
      "intrinsics": { "fx": 1712.44, "fy": 1711.98, "cx": 1918.2, "cy": 1076.7, "model": "opencv_fisheye" },
      "distortion": [-0.0421, 0.0113, -0.0004, 0.0002],
      "extrinsicsToRig": [0.9998, -0.0121, 0.0164, 0.0, 0.0119, 0.9999, 0.0089, 0.021, -0.0165, -0.0087, 0.9998, -0.004]
    }
  },
  "frames": [
    {
      "timeStampNs": 4237033333,
      "handJoints": {
        "right": [
          [0.061, -0.142, 0.418],
          [0.048, -0.128, 0.404],
          [0.036, -0.111, 0.392]
        ],
        "left": [
          [-0.079, -0.155, 0.441],
          [-0.066, -0.14, 0.428],
          [-0.055, -0.124, 0.417]
        ],
        "visibility": { "right": 21, "left": 19 }
      },
      "bodyJoints": [
        [0.0, 0.0, 0.0],
        [0.021, -0.184, 0.032],
        [-0.02, -0.186, 0.03]
      ],
      "instanceMasks": [
        { "id": 3, "label": "mug", "confidence": 0.99, "depthM": 0.61, "bbox": [1122, 604, 168, 208] },
        { "id": 7, "label": "cutting_board", "confidence": 0.94, "depthM": 0.52, "bbox": [742, 872, 574, 206] }
      ],
      "gaze": { "target": 3, "screen": [0.586, 0.618] }
    }
  ],
  "actionSegments": [
    { "startNs": 1180000000, "endNs": 4933333333, "verb": "reach", "noun": "mug", "review": "human" },
    { "startNs": 4933333333, "endNs": 6216666666, "verb": "grasp", "noun": "mug", "review": "human" },
    { "startNs": 6216666666, "endNs": 11400000000, "verb": "pour", "noun": "water", "review": "human" }
  ],
  "notes": "30-second ungated slice. Full pack contains 40 episodes with all streams at native rate."
}