{
  "reference_id": "44657eab-c8c0-58db-9cbb-c405157b2456",
  "content-type": "application/mcap",
  "version": "1",
  "supplemental": {
    "robocap": {
      "episode_uuid": "44657eab-c8c0-58db-9cbb-c405157b2456",
      "episode_id": 187,
      "task_annotation_id": 116,
      "video_object_id": 313480,
      "robocap_id": "c23aeafb2fad6996",
      "operator_id": "c23aeafb2fad6996",
      "operator_id_provenance": "device:robocap_id (human tracking not yet captured)",
      "device": {
        "product": "robocap",
        "author": "frodobots",
        "hardware_revision": "v1.0.0",
        "device_id": "c23aeafb2fad6996",
        "imu_chip": "icm42688p",
        "camera_chip": "sc230ai",
        "magnetometer_chip": "mmc5983ma"
      },
      "camera_config": [
        {
          "camera": "left",
          "mount": "side-of-head-left",
          "image_topic": "/side-left-camera/image-raw",
          "info_topic": "/side-left-camera/camera-info",
          "data_number": 4,
          "resolution": [
            1920,
            1080
          ],
          "codec": "h264",
          "device_clock_us": 2425810848
        },
        {
          "camera": "left-eye",
          "mount": "head-eye-left",
          "image_topic": "/top-left-camera/image-raw",
          "info_topic": "/top-left-camera/camera-info",
          "data_number": 2,
          "resolution": [
            1920,
            1080
          ],
          "codec": "h264",
          "device_clock_us": 2424810057
        },
        {
          "camera": "left-front",
          "mount": "head-front-left",
          "image_topic": "/front-left-camera/image-raw",
          "info_topic": "/front-left-camera/camera-info",
          "data_number": 1,
          "resolution": [
            1920,
            1080
          ],
          "codec": "h264",
          "device_clock_us": 2425844177
        },
        {
          "camera": "right",
          "mount": "side-of-head-right",
          "image_topic": "/side-right-camera/image-raw",
          "info_topic": "/side-right-camera/camera-info",
          "data_number": 3,
          "resolution": [
            1920,
            1080
          ],
          "codec": "h264",
          "device_clock_us": 2425844098
        },
        {
          "camera": "right-eye",
          "mount": "head-eye-right",
          "image_topic": "/top-right-camera/image-raw",
          "info_topic": "/top-right-camera/camera-info",
          "data_number": 0,
          "resolution": [
            1920,
            1080
          ],
          "codec": "h264",
          "device_clock_us": 2424576495
        },
        {
          "camera": "right-front",
          "mount": "head-front-right",
          "image_topic": "/front-right-camera/image-raw",
          "info_topic": "/front-right-camera/camera-info",
          "data_number": 5,
          "resolution": [
            1920,
            1080
          ],
          "codec": "h264",
          "device_clock_us": 2425844253
        }
      ],
      "upload_date": "2026-03-20",
      "task_id": "01KM5TYYQMGFG4M9V92JJPDJZX",
      "path_session_n": 7,
      "segment_i": 5,
      "primary_camera": "left-eye",
      "segment_group_size": 6,
      "imu_files_count": 3,
      "task_category": "preparing",
      "sub_category": "getting_the_caramel_from_rack | preparing_caramel_ingredient -> putting_the_caramel_on_the_plastic_cup |",
      "physical_change_size": "small",
      "dexterity_level": "dexterous",
      "environment_id": "retail_and_consumer_goods",
      "indoor_outdoor": "indoor",
      "scene_id": "counter",
      "meta_session_id": null,
      "meta_session_index": null,
      "summary_caption": "The Person pick up the caramel jar on the rack and place it down on the table, wipe the scoop using a towel , then he pick the bottle and pour it with water. After pouring the bottle of water he transfer the water into the water heater, then he get a plastic cup and place it down to the table. Then He get a spoon and use it to get a small amount of caramel and put it in the plastic cup before placing back the caramel jar to the rack.",
      "objects": [
        "caramel_jar | towel | stirring spoon | bottle | water container | water heater  |"
      ],
      "episode_seconds": 116.869,
      "preroll_seconds": 0.718,
      "episode_start_seconds_in_video": 78.773,
      "episode_end_seconds_in_video": 195.642,
      "video_start_unix_ns": 1773967224810057000,
      "episode_start_unix_ns": 1773967303583057000,
      "episode_end_unix_ns": 1773967420452057000,
      "urdf": "<robot name=\"robocap\"><link name=\"head\" /><link name=\"imu_dev0\" /><link name=\"imu_dev1\" /><link name=\"imu_dev2\" /><link name=\"left\" /><link name=\"left-eye\" /><link name=\"left-front\" /><link name=\"right\" /><link name=\"right-eye\" /><link name=\"right-front\" /><joint name=\"head_to_imu_dev0\" type=\"fixed\"><parent link=\"head\" /><child link=\"imu_dev0\" /><origin xyz=\"0.000000000 0.000000000 0.000000000\" rpy=\"0.000000000 0.000000000 1.570796327\" /></joint><joint name=\"imu_dev0_to_imu_dev1\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"imu_dev1\" /><origin xyz=\"-0.072689404 -0.093772110 0.017472806\" rpy=\"1.157240419 1.355477186 -1.972018616\" /></joint><joint name=\"imu_dev0_to_imu_dev2\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"imu_dev2\" /><origin xyz=\"0.078180442 -0.094900617 0.019248007\" rpy=\"-1.120092495 1.355428772 -1.145995011\" /></joint><joint name=\"imu_dev0_to_left\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left\" /><origin xyz=\"0.094438042 -0.082519739 0.018431545\" rpy=\"1.466572044 0.197523215 1.527444970\" /></joint><joint name=\"imu_dev0_to_left-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-eye\" /><origin xyz=\"0.048656558 -0.010591552 0.017838804\" rpy=\"0.404884037 0.143443197 -3.077937512\" /></joint><joint name=\"imu_dev0_to_left-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-front\" /><origin xyz=\"0.046440482 0.018858065 -0.011342540\" rpy=\"1.470059960 -0.027147523 3.119556431\" /></joint><joint name=\"imu_dev0_to_right\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right\" /><origin xyz=\"-0.089447045 -0.090700054 0.012127501\" rpy=\"1.485478825 -0.189708097 -1.558682237\" /></joint><joint name=\"imu_dev0_to_right-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-eye\" /><origin xyz=\"-0.053149612 -0.011126691 0.016490558\" rpy=\"0.407728089 -0.154611788 3.086748779\" /></joint><joint name=\"imu_dev0_to_right-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-front\" /><origin xyz=\"-0.040710465 0.018925187 -0.013617611\" rpy=\"1.503040219 0.028744581 -3.138162355\" /></joint></robot>",
      "coordinate_frame": {
        "convention": "operator_perspective",
        "root_frame": "head",
        "x": "operator_left",
        "y": "up",
        "z": "forward_away_from_head",
        "handedness": "right"
      },
      "manifest_hash": "64c6a202dcf223a1dd1dbde72466e2c0a6c38c6e0f37025eb824e94978eff946",
      "manifest_size": 12
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}