{
  "reference_id": "628462aa-7aaf-5e63-88a8-885f07212973",
  "content-type": "application/mcap",
  "version": "1",
  "supplemental": {
    "robocap": {
      "episode_uuid": "628462aa-7aaf-5e63-88a8-885f07212973",
      "episode_id": 29210,
      "task_annotation_id": 5847,
      "video_object_id": 7943,
      "robocap_id": "9f17c7f419372a31",
      "operator_id": "9f17c7f419372a31",
      "operator_id_provenance": "device:robocap_id (human tracking not yet captured)",
      "device": {
        "product": "robocap",
        "author": "frodobots",
        "hardware_revision": "v1.0.0",
        "device_id": "9f17c7f419372a31",
        "imu_chip": "icm42688p",
        "camera_chip": "sc230ai",
        "magnetometer_chip": "mmc5983ma"
      },
      "camera_config": [
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          "camera": "left",
          "mount": "side-of-head-left",
          "image_topic": "/side-left-camera/image-raw",
          "info_topic": "/side-left-camera/camera-info",
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        {
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        {
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          "codec": "h264",
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        {
          "camera": "right",
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          "info_topic": "/side-right-camera/camera-info",
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        {
          "camera": "right-eye",
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          "info_topic": "/top-right-camera/camera-info",
          "data_number": 0,
          "resolution": [
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          "codec": "h264",
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        {
          "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": [
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            1080
          ],
          "codec": "h264",
          "device_clock_us": 12040229434
        }
      ],
      "upload_date": "2026-02-22",
      "task_id": "01KJ2JQ9PVYYYY6828J3GZA2EZ",
      "path_session_n": 4,
      "segment_i": 21,
      "primary_camera": "left-eye",
      "segment_group_size": 6,
      "imu_files_count": 3,
      "task_category": "bakery_operations",
      "sub_category": "baking_preparation",
      "physical_change_size": "small",
      "dexterity_level": "dexterous",
      "environment_id": "food_processing",
      "indoor_outdoor": "indoor",
      "scene_id": "kitchen",
      "meta_session_id": null,
      "meta_session_index": null,
      "summary_caption": "A person is using tools and molds to shape and organize small dough pieces on a baking tray.",
      "objects": [
        "dough",
        "baking_tray",
        "rolling_pin",
        "small tool",
        "bowl"
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      "episode_end_unix_ns": 1771730557604341000,
      "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=\"-0.073361246 -0.098687669 0.017341244\" rpy=\"1.118743312 1.362389376 -1.999974464\" /></joint><joint name=\"imu_dev0_to_imu_dev2\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"imu_dev2\" /><origin xyz=\"0.076577426 -0.094239775 0.017980069\" rpy=\"-1.003960584 1.315759288 -1.023311242\" /></joint><joint name=\"imu_dev0_to_left\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left\" /><origin xyz=\"0.087729315 -0.089308925 0.013378770\" rpy=\"1.436074786 0.216140718 1.542874714\" /></joint><joint name=\"imu_dev0_to_left-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-eye\" /><origin xyz=\"0.063604792 -0.011473652 0.023503834\" rpy=\"0.358967409 0.148324372 -3.065095371\" /></joint><joint name=\"imu_dev0_to_left-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-front\" /><origin xyz=\"0.044116845 0.012230082 -0.018502733\" rpy=\"1.494528348 -0.005039482 3.133036470\" /></joint><joint name=\"imu_dev0_to_right\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right\" /><origin xyz=\"-0.075127592 -0.082626827 0.014863000\" rpy=\"1.465176245 -0.183591960 -1.542741639\" /></joint><joint name=\"imu_dev0_to_right-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-eye\" /><origin xyz=\"-0.039176408 -0.011835324 0.022574160\" rpy=\"0.379814882 -0.123170556 3.069138899\" /></joint><joint name=\"imu_dev0_to_right-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-front\" /><origin xyz=\"-0.040613231 0.011950547 -0.019651399\" rpy=\"1.497206604 0.078296114 3.117551730\" /></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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}