{
  "reference_id": "d73bfeff-0d90-5475-8eb7-7c6af2fbb217",
  "content-type": "application/mcap",
  "version": "1",
  "supplemental": {
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      "episode_id": 29109,
      "task_annotation_id": 5811,
      "video_object_id": 266641,
      "robocap_id": "987817528f2a83e3",
      "operator_id": "987817528f2a83e3",
      "operator_id_provenance": "device:robocap_id (human tracking not yet captured)",
      "device": {
        "product": "robocap",
        "author": "frodobots",
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        "magnetometer_chip": "mmc5983ma"
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        {
          "camera": "right-eye",
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        {
          "camera": "right-front",
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          ],
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      ],
      "upload_date": "2026-03-19",
      "task_id": "01KM2ZX9VBHGCVAAAR7XVBDN5C",
      "path_session_n": 7,
      "segment_i": 31,
      "primary_camera": "left-eye",
      "segment_group_size": 6,
      "imu_files_count": 3,
      "task_category": "cleaning",
      "sub_category": "cleaning_maintenance",
      "physical_change_size": "large",
      "dexterity_level": "dexterous",
      "environment_id": "factory",
      "indoor_outdoor": "unknown",
      "scene_id": "outdoors_near_car",
      "meta_session_id": null,
      "meta_session_index": null,
      "summary_caption": "Person wipes the interior edges and glass of a car trunk using a cleaning cloth.",
      "objects": [
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      "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=\"-0.075414240 -0.097981133 0.016804457\" rpy=\"1.045930977 1.328757657 -2.077547863\" /></joint><joint name=\"imu_dev0_to_imu_dev2\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"imu_dev2\" /><origin xyz=\"0.076927123 -0.095025790 0.017117575\" rpy=\"-1.018419131 1.356639705 -1.033982886\" /></joint><joint name=\"imu_dev0_to_left\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left\" /><origin xyz=\"0.079042803 -0.090277127 0.008904066\" rpy=\"1.464820447 0.181807843 1.541613503\" /></joint><joint name=\"imu_dev0_to_left-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-eye\" /><origin xyz=\"0.053412240 -0.005096712 0.002608388\" rpy=\"0.385717935 0.143869355 -3.046712869\" /></joint><joint name=\"imu_dev0_to_left-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-front\" /><origin xyz=\"0.054999376 0.025129913 -0.009423723\" rpy=\"1.476982967 -0.019479498 3.131934952\" /></joint><joint name=\"imu_dev0_to_right\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right\" /><origin xyz=\"-0.082772175 -0.086935043 0.014581185\" rpy=\"1.456040663 -0.210533690 -1.544928906\" /></joint><joint name=\"imu_dev0_to_right-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-eye\" /><origin xyz=\"-0.050684208 -0.006560743 0.004208168\" rpy=\"0.379177093 -0.158164244 3.094472947\" /></joint><joint name=\"imu_dev0_to_right-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-front\" /><origin xyz=\"-0.030270521 0.023884192 -0.009038973\" rpy=\"1.485469461 0.011778217 -3.138027046\" /></joint></robot>",
      "coordinate_frame": {
        "convention": "operator_perspective",
        "root_frame": "head",
        "x": "operator_left",
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        "z": "forward_away_from_head",
        "handedness": "right"
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}