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Release update 2026-11-05: 5760 sessions, instructions, annotations (part 114)

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+ "generated_at_utc": "2026-10-30T07:13:52.358992+00:00",
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+ "generated_by": "scripts/sync_dataset.py",
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+ "time_base": {
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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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28
+ "offset_s": -0.089908,
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+ "rate": 0.0,
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+ "lag_scatter_ms": 12.38255476506334,
40
+ "lag_range_ms": 52.7061406948941
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+ }
42
+ },
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+ "units": {
44
+ "mocap": "millimetres, Nokov world, Y-up (unchanged)",
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+ [
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+ 1.0,
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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+ -1.0
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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)",
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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+ },
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+ "device": "c9205ac6e17d2d5c",
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+ "status": "ok",
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+ "date": "2026-10-21"
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+ },
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+ "timing": "pts",
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+ "timing": "pts",
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+ "file": "robowrist_452031d7af00ef6f_left/robowrist_segment1_video_left_down.mp4",
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+ "frames": 3994,
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+ "pts_gaps": 0,
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+ "timing": "pts",
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+ "file": "robowrist_60a6f081bbe60b0d_right/robowrist_segment1_video_right_down.mp4",
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+ "t_start": -0.8427316163035803,
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+ "third_person": {
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+ "file": "mocap/mocap-HH02-S01-wangmengli-02p1-1.mp4",
233
+ "frames": 3989,
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+ "fps": 30.0,
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+ "clock": "nokov (frame index)",
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+ "mocap_body1": {
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+ "frames": 15956,
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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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+ }
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+ },
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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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+ "definition": "c9205ac6e17d2d5c/20261028-morning/labels-053142/session-b145c837cee62364",
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+ "R_tracker0_imu0": [
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+ "status": "ok",
277
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+ "gyro_deg": 1.926
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280
+ "file": "derived/rig_tracker_provider/rig_tracker.json",
281
+ "compose": "T_world_cam(t) = T_world_tracker0(t) @ T_tracker0_cam"
282
+ },
283
+ "canonical": {
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+ "generated_at_utc": "2026-10-30T18:43:23.091518+00:00",
285
+ "generated_by": "scripts/canonicalise_dataset.py",
286
+ "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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+ [
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+ ],
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+ "T_canon_nokov_mm": [
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+ ],
312
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+ ]
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+ "block": "20261028-morning",
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+ "block_assignment": "trc",
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+ "tilt_removed_deg": 0.09703029591991919,
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+ "plane_status": "ok",
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+ "headtop_p95_mm": 1651.2
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+ },
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+ "gravity_check": {
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+ "g_world_mean_m_s2": [
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+ "tilt_from_z_deg": 1.905,
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+ "magnitude_m_s2": 9.7986
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+ },
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+ "rig_check": {
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353
+ "dropped_marker": null,
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+ "gyro_deg": 1.926
355
+ },
356
+ "camera_pose_source": "provider T_tracker0_cam",
357
+ "files": [
358
+ "mocap_zup.npz",
359
+ "tracker0_zup.npz",
360
+ "rig_zup.npz",
361
+ "cameras_zup.npz",
362
+ "mocap_body1_zup.npz"
363
+ ]
364
+ },
365
+ "smplx": {
366
+ "generated_at_utc": "2026-11-02T14:47:15.263319+00:00",
367
+ "generated_by": "scripts/fit_smplx_dataset.py",
368
+ "file": "smplx.npz",
369
+ "gender": "female",
370
+ "n_betas": 16,
371
+ "betas_source": "participant median (derived/smplx/participants.json)",
372
+ "frame": "canonical (meta.canonical): Z-up metres; fitted in Nokov frame, global_orient/transl rotated, *_nokov kept",
373
+ "pelvis": "transl + rest_joints(betas)[0] (transl is NOT the pelvis)",
374
+ "hands": {
375
+ "observed": false,
376
+ "hand_pose": "flat (zeros, flat_hand_mean=True)",
377
+ "wrist_anchor": "T_world_wrist (F,2,4,4) canonical; hand-marker offsets in wrist frame below",
378
+ "hand_marker_offsets_m": {
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+ "LHandIn": [
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+ ],
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+ "p95_frame": 5.6
413
+ },
414
+ "worst_markers": [
415
+ "LElbow 9mm",
416
+ "LKneeIn 9mm",
417
+ "LUArmHigh 9mm",
418
+ "LElbowIn 7mm",
419
+ "LHeel 7mm"
420
+ ],
421
+ "valid_fraction": 0.9996,
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+ "qc": {
423
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425
+ "p5": 8.6
426
+ },
427
+ "frames_checked": 532,
428
+ "stature_mm": 1616.5
429
+ },
430
+ "surface_term": {
431
+ "weight": 1.0,
432
+ "marker_height_mm": 11.0,
433
+ "markers_on_surface": 52,
434
+ "surface_rmse_mm_median": 12.47
435
+ },
436
+ "shape_source": "participant median",
437
+ "wrist_correction": {
438
+ "left": {
439
+ "status": "corrected",
440
+ "Q_deg": 19.36,
441
+ "Q_rotvec": [
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443
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445
+ ],
446
+ "in_out_sign": 1,
447
+ "wrist_bend_deg_median": 35.6,
448
+ "opposite_sign_bend_deg": 154.0,
449
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
450
+ "marker_frame_spread_deg": 2.51,
451
+ "hand_vs_marker_frame_deg": {
452
+ "before": 19.92,
453
+ "after": 2.51
454
+ },
455
+ "markers_on_wrist": [
456
+ "LWristIn",
457
+ "LHandIn",
458
+ "LHandOut"
459
+ ],
460
+ "forearm_twist": {
461
+ "twist_moved_deg": 29.87,
462
+ "wrist_twist_deg_after": {
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+ "median": -0.0,
464
+ "iqr": [
465
+ -5.4,
466
+ 1.5
467
+ ]
468
+ },
469
+ "wrist_total_deg_median_after": 18.1,
470
+ "markers_on_forearm": [
471
+ "LElbow",
472
+ "LElbowIn",
473
+ "LForearm",
474
+ "LWristOut"
475
+ ]
476
+ },
477
+ "frames_used": 1500
478
+ },
479
+ "right": {
480
+ "status": "corrected",
481
+ "Q_deg": 99.79,
482
+ "Q_rotvec": [
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484
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485
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486
+ ],
487
+ "in_out_sign": 1,
488
+ "wrist_bend_deg_median": 122.0,
489
+ "opposite_sign_bend_deg": 65.1,
490
+ "in_out_convention": "pinky side = HandOut (default IN_OUT_SIGN, no ACE output)",
491
+ "marker_frame_spread_deg": 1.65,
492
+ "hand_vs_marker_frame_deg": {
493
+ "before": 99.97,
494
+ "after": 1.65
495
+ },
496
+ "markers_on_wrist": [
497
+ "RHandIn",
498
+ "RHandOut"
499
+ ],
500
+ "forearm_twist": {
501
+ "twist_moved_deg": -121.48,
502
+ "wrist_twist_deg_after": {
503
+ "median": -0.0,
504
+ "iqr": [
505
+ -2.1,
506
+ 3.3
507
+ ]
508
+ },
509
+ "wrist_total_deg_median_after": 19.8,
510
+ "markers_on_forearm": [
511
+ "RForearm",
512
+ "RWristIn",
513
+ "RWristOut"
514
+ ]
515
+ },
516
+ "frames_used": 1500
517
+ },
518
+ "generated_at_utc": "2026-11-02T14:47:18.683385+00:00",
519
+ "note": "constant wrist rotation (marker-fit gauge freedom) removed; marker predictions unchanged"
520
+ }
521
+ },
522
+ "release": {
523
+ "release_path": "actions/human_human_locomanipulation/HH02/session_007",
524
+ "family": "human_human_locomanipulation",
525
+ "primitive": "HH02",
526
+ "source_session": "20261028/HH02/20261028_013057_session11"
527
+ },
528
+ "task": {
529
+ "primitive": "HH02",
530
+ "instruction": "Pick the object up from the shelf, walk over to your partner, hand it to them, and walk back. Then do it again with the next object. Keep repeating at your own pace until the operator says stop. Talk to each other normally while you do it."
531
+ },
532
+ "objects": [
533
+ {
534
+ "name": "LittleBox1",
535
+ "object_type": "LittleBox",
536
+ "source": "mocap",
537
+ "pose_frame": "rigid_body"
538
+ },
539
+ {
540
+ "name": "LittleBox2",
541
+ "object_type": "LittleBox",
542
+ "source": "mocap",
543
+ "pose_frame": "mesh"
544
+ },
545
+ {
546
+ "name": "LittleBox3",
547
+ "object_type": "LittleBox",
548
+ "source": "mocap",
549
+ "pose_frame": "mesh"
550
+ },
551
+ {
552
+ "name": "LittleBox4",
553
+ "object_type": "LittleBox",
554
+ "source": "mocap",
555
+ "pose_frame": "mesh"
556
+ },
557
+ {
558
+ "name": "LittleBox5",
559
+ "object_type": "LittleBox",
560
+ "source": "mocap",
561
+ "pose_frame": "mesh"
562
+ },
563
+ {
564
+ "name": "LittleBox6",
565
+ "object_type": "LittleBox",
566
+ "source": "mocap",
567
+ "pose_frame": "mesh"
568
+ },
569
+ {
570
+ "name": "Table",
571
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