{
  "reference_id": "c8b47ceb-f404-5618-8be9-cbafb00516d5",
  "content-type": "application/mcap",
  "version": "1",
  "supplemental": {
    "robocap": {
      "episode_uuid": "c8b47ceb-f404-5618-8be9-cbafb00516d5",
      "episode_id": 217,
      "task_annotation_id": 138,
      "video_object_id": 301711,
      "robocap_id": "8b7dbe277525be80",
      "operator_id": "8b7dbe277525be80",
      "operator_id_provenance": "device:robocap_id (human tracking not yet captured)",
      "device": {
        "product": "robocap",
        "author": "frodobots",
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        "camera_chip": "sc230ai",
        "magnetometer_chip": "mmc5983ma"
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        {
          "camera": "right",
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        {
          "camera": "right-eye",
          "mount": "head-eye-right",
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          "data_number": 0,
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        {
          "camera": "right-front",
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      ],
      "upload_date": "2026-03-20",
      "task_id": "01KM4VZWGWNKHTEPVDK373ZGX4",
      "path_session_n": 10,
      "segment_i": 8,
      "primary_camera": "left-eye",
      "segment_group_size": 6,
      "imu_files_count": 3,
      "task_category": "packing",
      "sub_category": "Packing_and_counting_money",
      "physical_change_size": "large",
      "dexterity_level": "dexterous",
      "environment_id": "retail_and_consumer_goods",
      "indoor_outdoor": "indoor",
      "scene_id": "checkout_counter",
      "meta_session_id": null,
      "meta_session_index": null,
      "summary_caption": "Person picking the coins and packing with plastic",
      "objects": [
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      "episode_start_seconds_in_video": 46.306,
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      "episode_end_unix_ns": 1773978446787155000,
      "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=\"-0.072548762 -0.093276382 0.015460022\" rpy=\"1.070415521 1.345328828 -2.035385615\" /></joint><joint name=\"imu_dev0_to_imu_dev2\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"imu_dev2\" /><origin xyz=\"0.076428968 -0.091726597 0.016378100\" rpy=\"-0.940365172 1.364932646 -0.968217661\" /></joint><joint name=\"imu_dev0_to_left\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left\" /><origin xyz=\"0.086815286 -0.081400117 0.012317274\" rpy=\"1.449974756 0.166317187 1.538091353\" /></joint><joint name=\"imu_dev0_to_left-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-eye\" /><origin xyz=\"0.049007183 -0.013926474 0.011830917\" rpy=\"0.432325546 0.085418179 -2.866601118\" /></joint><joint name=\"imu_dev0_to_left-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-front\" /><origin xyz=\"0.058133302 0.019291891 0.001447593\" rpy=\"1.479023350 -0.019925576 -3.137302907\" /></joint><joint name=\"imu_dev0_to_right\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right\" /><origin xyz=\"-0.082245390 -0.089936959 0.015939890\" rpy=\"1.464401674 -0.188980696 -1.529733865\" /></joint><joint name=\"imu_dev0_to_right-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-eye\" /><origin xyz=\"-0.055391378 -0.014245623 0.008473312\" rpy=\"0.377948945 -0.157657518 3.093439542\" /></joint><joint name=\"imu_dev0_to_right-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-front\" /><origin xyz=\"-0.028351876 0.016383703 0.000187681\" rpy=\"1.542580708 0.025593607 -3.121630335\" /></joint></robot>",
      "coordinate_frame": {
        "convention": "operator_perspective",
        "root_frame": "head",
        "x": "operator_left",
        "y": "up",
        "z": "forward_away_from_head",
        "handedness": "right"
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      "manifest_size": 12
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}