{
  "joint_mocap_frame": {
    "definition": "z-up, origin at ArUco tag, +x along tag printed +y (after the +90\u00b0 yaw correction applied during dataset build).",
    "reference_scene": "left_gate_new",
    "note": "joint_mocap == left_gate_new mocap by construction. Right scene was aligned onto this via ICP."
  },
  "right_to_joint_icp": {
    "transformation_4x4": [
      [
        0.9996255607478141,
        0.008054330657959075,
        0.026150832821740452,
        0.06981040434250411
      ],
      [
        -0.008633841733665925,
        0.9997179623816806,
        0.022123572684828046,
        -0.015361735775686246
      ],
      [
        -0.0259652667333953,
        -0.022341070902602712,
        0.99941316855162,
        0.026166982598025707
      ],
      [
        0.0,
        0.0,
        0.0,
        1.0
      ]
    ],
    "inlier_rmse_m": 0.028546041817277035,
    "yaw_deg": -0.49485568530864527,
    "translation_m": [
      0.06981040434250411,
      -0.015361735775686246,
      0.026166982598025707
    ]
  },
  "joint_mocap_to_right_mocap_4x4": [
    [
      0.9996255607478141,
      -0.008633841733665937,
      -0.025965266733395314,
      -0.06923746269958311
    ],
    [
      0.008054330657959045,
      0.9997179623816783,
      -0.02234107090260269,
      0.0153797255219041
    ],
    [
      0.026150832821740435,
      0.02212357268482801,
      0.9994131685516198,
      -0.027637370724908378
    ],
    [
      0.0,
      0.0,
      0.0,
      1.0
    ]
  ],
  "scenes": {
    "left_gate_new": {
      "config_yml": "/home/javier/Downloads/polycam_gsplat/left_gate_new/mocap_outputs/sagesplat_mocap/sagesplat/2026-05-11_153901/config.yml",
      "dataparser_transforms_json": "/home/javier/Downloads/polycam_gsplat/left_gate_new/mocap_outputs/sagesplat_mocap/sagesplat/2026-05-11_153901/dataparser_transforms.json",
      "dataparser": {
        "R_3x3": [
          [
            0.9999979734420776,
            -1.695393439149484e-05,
            0.0020061566028743982
          ],
          [
            -1.695393439149484e-05,
            0.9998571872711182,
            0.01690067909657955
          ],
          [
            -0.0020061566028743982,
            -0.01690067909657955,
            0.9998551607131958
          ]
        ],
        "t_3": [
          -1.2423747777938843,
          -0.6352672576904297,
          -1.4881443977355957
        ],
        "scale": 0.12614457225472883
      },
      "joint_mocap_to_nerf_4x4": [
        [
          0.12614431661544656,
          -2.138646801849853e-06,
          0.00025306576654559085,
          -0.15671883492487332
        ],
        [
          -2.138646801849853e-06,
          0.1261265572041315,
          0.0021319289354524646,
          -0.08013551648879384
        ],
        [
          -0.00025306576654559085,
          -0.0021319289354524646,
          0.12612630156484925,
          -0.18772133850562778
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "nerf_to_joint_mocap_4x4": [
        [
          7.927396190957216,
          -0.00013440079001054742,
          -0.01590363021792624,
          1.239376074006362
        ],
        [
          -0.00013440079001054747,
          7.926279674348544,
          -0.1339786449482548,
          0.6100048018424692
        ],
        [
          0.01590363021792624,
          0.1339786449482548,
          7.9262638322247,
          1.501157702244194
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "tag_origin_in_nerf": [
        -0.15671883492487332,
        -0.08013551648879384,
        -0.18772133850562778
      ]
    },
    "right_gate_new": {
      "config_yml": "/home/javier/Downloads/polycam_gsplat/right_gate_new/mocap_outputs/sagesplat_mocap/sagesplat/2026-05-11_144353/config.yml",
      "dataparser_transforms_json": "/home/javier/Downloads/polycam_gsplat/right_gate_new/mocap_outputs/sagesplat_mocap/sagesplat/2026-05-11_144353/dataparser_transforms.json",
      "dataparser": {
        "R_3x3": [
          [
            0.9975465536117554,
            -0.0006320774555206299,
            0.07000336796045303
          ],
          [
            -0.0006320774555206299,
            0.9998371601104736,
            0.018034866079688072
          ],
          [
            -0.07000336796045303,
            -0.018034866079688072,
            0.997383713722229
          ]
        ],
        "t_3": [
          -0.7469793558120728,
          0.20763254165649414,
          -1.4490822553634644
        ],
        "scale": 0.1368452799891628
      },
      "joint_mocap_to_nerf_4x4": [
        [
          0.13670824154355804,
          -0.0010531385109253488,
          0.006031434740751257,
          -0.11193825919477846
        ],
        [
          0.0010800931208735179,
          0.1368397543610075,
          -0.000587988338221821,
          0.03045561359106641
        ],
        [
          -0.006026666126590632,
          0.0006350044549505714,
          0.1367110336659798,
          -0.20144690343164867
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "nerf_to_joint_mocap_4x4": [
        [
          7.300204952973753,
          0.057676851597561425,
          -0.3218233032992863,
          0.7505853423937913
        ],
        [
          -0.05623748091475866,
          7.307227686426595,
          0.03390916765210343,
          -0.22201033173338733
        ],
        [
          0.3220779462889051,
          -0.03139851181942902,
          7.300354032617451,
          1.507642819401451
        ],
        [
          0.0,
          0.0,
          0.0,
          1.0
        ]
      ],
      "tag_origin_in_nerf": [
        -0.11193825919477846,
        0.03045561359106641,
        -0.20144690343164867
      ]
    }
  }
}