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Release update 2026-11-05: 5760 sessions, instructions, annotations (part 149)

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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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+ "offset_s": -0.088176,
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+ "rate": 0.0,
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+ "peak_corr": 0.9931,
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+ "n_windows": 12,
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+ "lag_scatter_ms": 3.439356865686106,
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+ "lag_range_ms": 15.728793749581914
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+ }
42
+ },
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+ "units": {
44
+ "mocap": "millimetres, Nokov world, Y-up (unchanged)",
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48
+ 0.0,
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+ 0.0
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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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+ 0.0,
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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)",
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+ "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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+ },
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+ "device": "e3296774a321bb51",
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+ "status": "ok",
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+ "timing": "pts",
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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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+ "right_front": {
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+ "timing": "pts",
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+ "file": "robocap_segment1_video_right_front.mp4",
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+ },
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+ "file": "robocap_segment1_video_left_eye.mp4",
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+ "t_start": 0.03915863162511214,
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+ "start_device_s": 7003.187807,
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+ "timing": "pts",
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+ "file": "robowrist_75b5984e04d1d236_left/robowrist_segment1_video_left_down.mp4",
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+ "start_device_s": 7002.251156,
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+ "timing": "pts",
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+ "file": "robowrist_c84bc808cb6b47af_right/robowrist_segment1_video_right_down.mp4",
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+ "frames": 3931,
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+ "clock": "nokov (frame index)",
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+ "frames": 15724,
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+ "note": "second person (no ego cameras), Body1 of the same take, same time base as mocap.npz"
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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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+ "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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+ "files": [
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+ "tracker0_zup.npz",
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+ "rig_zup.npz",
368
+ "cameras_zup.npz",
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+ "mocap_body1_zup.npz"
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+ "generated_by": "scripts/fit_smplx_dataset.py",
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+ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
380
+ "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
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+ "hands": {
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383
+ "hand_pose": "flat (zeros, flat_hand_mean=True)",
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+ "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
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431
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432
+ ],
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+ "wrist_bend_deg_median": 142.0,
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+ "opposite_sign_bend_deg": 55.1,
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+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
462
+ "marker_frame_spread_deg": 4.67,
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+ "before": 172.96,
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479
+ ]
480
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+ "opposite_sign_bend_deg": 154.7,
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+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
501
+ "marker_frame_spread_deg": 1.89,
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+ "hand_vs_marker_frame_deg": {
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+ },
506
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510
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511
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518
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519
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520
+ "wrist_total_deg_median_after": 14.0,
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526
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529
+ "generated_at_utc": "2026-11-03T15:03:03.222819+00:00",
530
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
531
+ }
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+ },
533
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+ "generated_by": "scripts/relabel_marker_swaps.py",
536
+ "margin_s": 0.75,
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+ ],
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555
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556
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557
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+ }
566
+ },
567
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569
+ "release": {
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+ "family": "human_human_locomanipulation",
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+ "primitive": "HH13",
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+ "source_session": "20261030/HH13/20261030_112132_session28"
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+ },
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+ "task": {
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