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Release update 2026-11-05: 5760 sessions, instructions, annotations (part 39)

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  1. .gitattributes +43 -0
  2. actions/environment_coupled_wholebody/EC02/session_010/raw/mocap/Tracker0.trc +0 -0
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  11. actions/environment_coupled_wholebody/EC02/session_010/sensors/head_mag.npz +3 -0
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+ "mocap_time": "frame_index / rate (Nokov Timestamp column is not a clock; kept as source_timestamp_ms)"
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+ },
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+ "model": "offset (median of windows)",
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+ "mocap_rel_s": "rig_rel + offset_s + rate * rig_rel, rig_rel = device_time - reference_imu_first_sample",
28
+ "offset_s": -0.084113,
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+ "rate": 0.0,
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+ "global_lag_s": -0.085,
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+ "peak_corr": 0.9686,
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+ "n_windows": 12,
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+ "window_corr_median": 0.9660541531688889,
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+ "lag_scatter_ms": 0.4646876362407721,
40
+ "lag_range_ms": 2.2004922007390624
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+ }
42
+ },
43
+ "units": {
44
+ "mocap": "millimetres, Nokov world, Y-up (unchanged)",
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+ [
47
+ 1.0,
48
+ 0.0,
49
+ 0.0
50
+ ],
51
+ [
52
+ 0.0,
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+ 0.0,
54
+ -1.0
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+ ],
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+ [
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+ 0.0,
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+ ]
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+ ],
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+ "acc": "m/s^2 (8192 LSB/g)",
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+ "gyro": "rad/s (65.536 LSB/dps)",
64
+ "mag": "raw counts, scale unconfirmed (data suggests 163.84 LSB/uT, see knowledge_base sanity doc)",
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+ "quaternions": "xyzw, Nokov global"
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+ },
67
+ "calibration": {
68
+ "device": "c9205ac6e17d2d5c",
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+ "status": "ok",
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+ "date": "2026-10-21"
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+ },
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+ "streams": {
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+ }
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+ },
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+ "videos": {
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+ "pts_gaps": 0,
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+ "timing": "pts",
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+ "timeshift_cam_imu_s": 0.0026284356473863946,
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+ "file": "robocap_segment1_video_left.mp4",
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+ "pts_gaps": 0,
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+ "timing": "pts",
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+ "file": "robocap_segment1_video_right.mp4",
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+ "frames": 4048,
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+ "timing": "pts",
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+ "clock": "device",
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+ "calibrated": true
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+ },
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+ "timing": "pts",
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+ "timeshift_cam_imu_s": 0.0021420814739499558,
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+ "file": "robocap_segment1_video_right_front.mp4",
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+ "timing": "pts",
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+ "frames": 4048,
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+ "pts_gaps": 0,
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+ "timing": "pts",
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+ "timeshift_cam_imu_s": 0.002930366888236734,
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+ "file": "robocap_segment1_video_right_eye.mp4",
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+ "timing": "pts",
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+ "timeshift_cam_imu_s": null,
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+ "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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+ "t_start": -0.8153781765811541,
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+ "frames": 4055,
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+ "timing": "pts",
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+ "timeshift_cam_imu_s": null,
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+ "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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+ "t_start": -0.9086421765803347,
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+ "calibrated": false
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+ },
219
+ "third_person": {
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+ "file": "mocap/mocap-EC02-S02-wangjingjing-01p1-1.mp4",
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+ "frames": 4049,
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+ "clock": "nokov (frame index)",
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+ "flags": [],
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+ "sanity": "no sanity report covers this session (run scripts/sanity_check.py)",
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+ "rig_tracker": {
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+ "gyro_max_deg": 2.5,
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+ "status": "ok",
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+ "file": "derived/rig_tracker_provider/rig_tracker.json",
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+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
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265
+ "canonical": {
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267
+ "generated_by": "scripts/canonicalise_dataset.py",
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+ "frame": "Z-up, metres, levelled per Nokov capture block; z = 0 at the Nokov origin; x/y heading as Nokov (global, not per-take)",
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+ "R_canon_nokov": [
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+ "g_world_mean_m_s2": [
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+ "magnitude_m_s2": 9.7578
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+ },
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+ "rig_tracker_definition": "c9205ac6e17d2d5c/20261027-morning/labels-230415/session-4e6b43c8e9935850",
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+ "rig_check": {
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+ "camera_pose_source": "provider T_tracker0_cam",
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+ "files": [
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+ "tracker0_zup.npz",
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+ "rig_zup.npz",
343
+ "cameras_zup.npz"
344
+ ]
345
+ },
346
+ "smplx": {
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+ "generated_at_utc": "2026-10-29T09:06:18.842913+00:00",
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+ "generated_by": "scripts/fit_smplx_dataset.py",
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+ "file": "smplx.npz",
350
+ "gender": "female",
351
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+ "betas_source": "participant median (derived/smplx/participants.json)",
353
+ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
354
+ "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
355
+ "hands": {
356
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357
+ "hand_pose": "flat (zeros, flat_hand_mean=True)",
358
+ "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
359
+ "hand_marker_offsets_m": {
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+ "p95_frame": 6.96
404
+ },
405
+ "worst_markers": [
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+ "RElbowIn 14mm",
407
+ "RForearm 11mm",
408
+ "RUArmHigh 9mm",
409
+ "RKneeIn 7mm",
410
+ "RThigh 7mm"
411
+ ],
412
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417
+ },
418
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423
+ "marker_height_mm": 11.0,
424
+ "markers_on_surface": 52,
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+ "surface_rmse_mm_median": 11.29
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+ },
427
+ "shape_source": "participant median",
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431
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435
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+ ],
437
+ "in_out_sign": 1,
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+ "opposite_sign_bend_deg": 158.2,
440
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
441
+ "marker_frame_spread_deg": 0.62,
442
+ "hand_vs_marker_frame_deg": {
443
+ "before": 21.82,
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+ },
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+ "markers_on_wrist": [
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448
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449
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450
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451
+ ],
452
+ "forearm_twist": {
453
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+ "iqr": [
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458
+ 1.2
459
+ ]
460
+ },
461
+ "wrist_total_deg_median_after": 19.4,
462
+ "markers_on_forearm": [
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464
+ "LForearm"
465
+ ]
466
+ },
467
+ "frames_used": 1500
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469
+ "right": {
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+ "Q_rotvec": [
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+ "in_out_sign": 1,
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+ "wrist_bend_deg_median": 139.1,
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+ "opposite_sign_bend_deg": 66.4,
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+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
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+ "marker_frame_spread_deg": 4.54,
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+ "hand_vs_marker_frame_deg": {
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+ "before": 145.81,
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+ },
486
+ "markers_on_wrist": [
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+ "RWristIn",
488
+ "RHandIn",
489
+ "RHandOut"
490
+ ],
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+ "forearm_twist": {
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497
+ 7.5
498
+ ]
499
+ },
500
+ "wrist_total_deg_median_after": 48.7,
501
+ "markers_on_forearm": [
502
+ "RForearm",
503
+ "RWristOut"
504
+ ]
505
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506
+ "frames_used": 1391
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+ },
508
+ "generated_at_utc": "2026-10-29T09:06:21.873261+00:00",
509
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
510
+ }
511
+ },
512
+ "marker_relabel": {
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514
+ "generated_by": "scripts/relabel_marker_swaps.py",
515
+ "margin_s": 0.75,
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+ "sides": {
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518
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520
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521
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525
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528
+ ],
529
+ "frames_ok": 2630,
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+ "stretches": [
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537
+ "confirm": "imu",
538
+ "err_as_labelled_deg": 140.8,
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541
+ "applied": true
542
+ },
543
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+ "dur_s": 26.13,
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553
+ },
554
+ {
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+ "t0": 89.48,
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563
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564
+ },
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+ {
566
+ "t0": 130.72,
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571
+ "err_as_labelled_deg": 91.0,
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+ "err_swapped_deg": 13.5,
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+ "calib_err_deg": 8.3,
574
+ "applied": true
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