{
  "reference_id": "6903282a-f93b-518f-b8bc-b54c6029e77c",
  "content-type": "application/mcap",
  "version": "1",
  "supplemental": {
    "robocap": {
      "episode_uuid": "6903282a-f93b-518f-b8bc-b54c6029e77c",
      "episode_id": 294,
      "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": "mixing_and_combining",
      "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 gets the coffee after pouring it with hot water, then he disposed the coffeee residue and wipe the scoop before placing it back to the water heater. Then he stir the caramel before adding up a sugar and coffee, after stirring the caramel He add the coffee and sugar on the caramel the stir it well in the plastic cup., then he put some ice on it before placing the coffee back to the table.",
      "objects": [
        "jar_of_sugar | stirring_spoon | plastic_cup | ice_shovel | ice_container"
      ],
      "episode_seconds": 110.545,
      "preroll_seconds": 0.879,
      "episode_start_seconds_in_video": 262.396,
      "episode_end_seconds_in_video": 372.941,
      "video_start_unix_ns": 1773967224810057000,
      "episode_start_unix_ns": 1773967487206057000,
      "episode_end_unix_ns": 1773967597751057000,
      "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
    }
  }
}