{
  "reference_id": "09c30d70-6ecb-5cea-91cb-0a4f1210990d",
  "content-type": "application/mcap",
  "version": "1",
  "supplemental": {
    "robocap": {
      "episode_uuid": "09c30d70-6ecb-5cea-91cb-0a4f1210990d",
      "episode_id": 29240,
      "task_annotation_id": 5853,
      "video_object_id": 797029,
      "robocap_id": "96caae437525be80",
      "operator_id": "96caae437525be80",
      "operator_id_provenance": "device:robocap_id (human tracking not yet captured)",
      "device": {
        "product": "robocap",
        "author": "frodobots",
        "hardware_revision": "v1.0.0",
        "device_id": "96caae437525be80",
        "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": 6155275663
        },
        {
          "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": 6155242177
        },
        {
          "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": 6155275616
        },
        {
          "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": 6155275520
        },
        {
          "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": 6155208839
        },
        {
          "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": 6155242273
        }
      ],
      "upload_date": "2026-04-01",
      "task_id": "01KN4ZMDD7CFS3EX3GXE8XPZCB",
      "path_session_n": 2,
      "segment_i": 12,
      "primary_camera": "left-eye",
      "segment_group_size": 6,
      "imu_files_count": 3,
      "task_category": "art_and_craft",
      "sub_category": "cutting_and_gluing",
      "physical_change_size": "small",
      "dexterity_level": "dexterous",
      "environment_id": "laboratory_scientific",
      "indoor_outdoor": "indoor",
      "scene_id": "art_studio",
      "meta_session_id": null,
      "meta_session_index": null,
      "summary_caption": "A person is carefully arranging and placing small pieces of fabric onto a craft project on a tabletop.",
      "objects": [
        "fabric_pieces",
        "craft project base",
        "tabletop"
      ],
      "episode_seconds": 35.38,
      "preroll_seconds": 0.561,
      "episode_start_seconds_in_video": 84.62,
      "episode_end_seconds_in_video": 120.0,
      "video_start_unix_ns": 1775007755242177000,
      "episode_start_unix_ns": 1775007839862177000,
      "episode_end_unix_ns": 1775007875242177000,
      "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=\"-0.073553966 -0.095906928 0.015867718\" rpy=\"1.238808101 1.350348671 -1.875138825\" /></joint><joint name=\"imu_dev0_to_imu_dev2\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"imu_dev2\" /><origin xyz=\"0.077682016 -0.095604893 0.017156538\" rpy=\"-1.201505600 1.321675755 -1.217398678\" /></joint><joint name=\"imu_dev0_to_left\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left\" /><origin xyz=\"0.085430086 -0.087781633 0.009705766\" rpy=\"1.484085403 0.232566662 1.552596498\" /></joint><joint name=\"imu_dev0_to_left-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-eye\" /><origin xyz=\"0.049298625 -0.003653971 0.028798427\" rpy=\"0.372677604 0.154714014 -3.010982659\" /></joint><joint name=\"imu_dev0_to_left-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"left-front\" /><origin xyz=\"0.045176845 0.012388813 -0.008459577\" rpy=\"1.463701597 -0.019591158 -3.119507302\" /></joint><joint name=\"imu_dev0_to_right\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right\" /><origin xyz=\"-0.080164769 -0.088372431 0.005591487\" rpy=\"1.496077654 -0.207101731 -1.540674127\" /></joint><joint name=\"imu_dev0_to_right-eye\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-eye\" /><origin xyz=\"-0.051905386 -0.003328581 0.032072157\" rpy=\"0.373339492 -0.159170618 3.087790717\" /></joint><joint name=\"imu_dev0_to_right-front\" type=\"fixed\"><parent link=\"imu_dev0\" /><child link=\"right-front\" /><origin xyz=\"-0.038246114 0.009498894 -0.007808901\" rpy=\"1.482122700 0.022507059 3.133645809\" /></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
    }
  }
}