base_diagnostic_aggregator:
  analyzers:
    base:
      analyzers:
        chrony: {expected: 'chrony_monitor: Chrony Diagnostic Monitor', path: Chrony,
          startswith: chrony_monitor, type: diagnostic_aggregator/GenericAnalyzer}
        graphics:
          analyzers:
            brix1: {contains: vision1 GPU, path: Vision1, type: diagnostic_aggregator/GenericAnalyzer}
            brix2: {contains: vision2 GPU, path: Vision2, type: diagnostic_aggregator/GenericAnalyzer}
            brix3: {contains: vision3 GPU, path: Vision3, type: diagnostic_aggregator/GenericAnalyzer}
            brix4: {contains: vision4 GPU, path: Vision4, type: diagnostic_aggregator/GenericAnalyzer}
            brix5: {contains: vision5 GPU, path: Vision5, type: diagnostic_aggregator/GenericAnalyzer}
            brix6: {contains: vision6 GPU, path: Vision6, type: diagnostic_aggregator/GenericAnalyzer}
            mainai: {contains: mainai GPU, path: MainAI, type: diagnostic_aggregator/GenericAnalyzer}
          path: GPU
          type: diagnostic_aggregator/AnalyzerGroup
        harddrives:
          analyzers:
            brix1: {contains: vision1 HD, path: Vision1, remove_prefix: vision1, type: diagnostic_aggregator/GenericAnalyzer}
            brix2: {contains: vision2 HD, path: Vision2, remove_prefix: vision2, type: diagnostic_aggregator/GenericAnalyzer}
            brix3: {contains: vision3 HD, path: Vision3, remove_prefix: vision3, type: diagnostic_aggregator/GenericAnalyzer}
            brix4: {contains: vision4 HD, path: Vision4, remove_prefix: vision4, type: diagnostic_aggregator/GenericAnalyzer}
            brix5: {contains: vision5 HD, path: Vision5, remove_prefix: vision5, type: diagnostic_aggregator/GenericAnalyzer}
            brix6: {contains: vision6 HD, path: Vision6, remove_prefix: vision6, type: diagnostic_aggregator/GenericAnalyzer}
            mainai: {contains: mainai HD, path: MainAI, remove_prefix: mainai, type: diagnostic_aggregator/GenericAnalyzer}
          path: HDD
          type: diagnostic_aggregator/AnalyzerGroup
        mission_watchdog: {path: MissionWatchdog, startswith: mission_watchdog, type: diagnostic_aggregator/GenericAnalyzer}
        network: {expected: 'network_router_monitor:Peplink', path: Network, startswith: network_router_monitor,
          type: diagnostic_aggregator/GenericAnalyzer}
        system:
          analyzers:
            brix1:
              find_and_remove_prefix: ['system_monitor_vision1:', 'usb_monitor_vision1:']
              num_items: 4
              path: Vision1
              type: diagnostic_aggregator/GenericAnalyzer
            brix2:
              find_and_remove_prefix: ['system_monitor_vision2:', 'usb_monitor_vision2:']
              num_items: 4
              path: Vision2
              type: diagnostic_aggregator/GenericAnalyzer
            brix3:
              find_and_remove_prefix: ['system_monitor_vision3:', 'usb_monitor_vision3:']
              num_items: 4
              path: Vision3
              type: diagnostic_aggregator/GenericAnalyzer
            brix4:
              find_and_remove_prefix: ['system_monitor_vision4:', 'usb_monitor_vision4:']
              num_items: 4
              path: Vision4
              type: diagnostic_aggregator/GenericAnalyzer
            brix5:
              find_and_remove_prefix: ['system_monitor_vision5:', 'usb_monitor_vision5:']
              num_items: 4
              path: Vision5
              type: diagnostic_aggregator/GenericAnalyzer
            brix6:
              find_and_remove_prefix: ['system_monitor_vision6:', 'usb_monitor_vision6:']
              num_items: 4
              path: Vision6
              type: diagnostic_aggregator/GenericAnalyzer
            mainai: {find_and_remove_prefix: 'system_monitor_mainai:', num_items: 3,
              path: MainAI, type: diagnostic_aggregator/GenericAnalyzer}
          path: System
          type: diagnostic_aggregator/AnalyzerGroup
        temperature:
          analyzers:
            brix1:
              find_and_remove_prefix: ['sensors_monitor_brix1: ']
              path: Vision1
              type: diagnostic_aggregator/GenericAnalyzer
            brix2:
              find_and_remove_prefix: ['sensors_monitor_brix2: ']
              path: Vision2
              type: diagnostic_aggregator/GenericAnalyzer
            brix3:
              find_and_remove_prefix: ['sensors_monitor_brix3: ']
              path: Vision3
              type: diagnostic_aggregator/GenericAnalyzer
            brix4:
              find_and_remove_prefix: ['sensors_monitor_brix4: ']
              path: Vision4
              type: diagnostic_aggregator/GenericAnalyzer
            brix5:
              find_and_remove_prefix: ['sensors_monitor_brix5: ']
              path: Vision5
              type: diagnostic_aggregator/GenericAnalyzer
            brix6:
              find_and_remove_prefix: ['sensors_monitor_brix6: ']
              path: Vision6
              type: diagnostic_aggregator/GenericAnalyzer
            mainai:
              find_and_remove_prefix: ['sensors_monitor: ']
              path: MainAI
              type: diagnostic_aggregator/GenericAnalyzer
          path: Temperatures
          type: diagnostic_aggregator/AnalyzerGroup
        timesync: {num_items: 12, path: TimeSync, startswith: NTP, type: diagnostic_aggregator/GenericAnalyzer}
      path: Base
      type: diagnostic_aggregator/AnalyzerGroup
  other_as_errors: true
brix_config:
  brix1:
    address: brix1
    cameras: [north_narrow_left, north_narrow_right]
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    ssh_detected: true
    user: zoox
  brix2:
    address: brix2
    cameras: [north_wide_left, north_wide_right]
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    ssh_detected: true
    user: zoox
  brix3:
    address: brix3
    cameras: [west_wide_left, west_wide_right]
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    ssh_detected: true
    user: zoox
  brix4:
    address: brix4
    cameras: [east_wide_left, east_wide_right]
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    ssh_detected: true
    user: zoox
  brix5:
    address: brix5
    cameras: [southwest_wide_left, southwest_wide_right]
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    ssh_detected: true
    user: zoox
  brix6:
    address: brix6
    cameras: [southeast_wide_left, southeast_wide_right]
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    ssh_detected: true
    user: zoox
brix_config_version: 1
calibration_date: '2017-10-19'
calibration_directory: /etc/zoox/calibration
camera_calibration_date: '2017-10-20'
camera_config: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/packages/zoox/rcv/param/vehicle_specific/kitt_01/camera_config.yaml
camera_diagnostic_aggregator:
  analyzers:
    cameras:
      expected: ['vision1/cameras_vision1: north_narrow_left', 'vision1/cameras_vision1:
          north_narrow_right', 'vision1/cameras_vision1: vision1', 'vision2/cameras_vision2:
          north_wide_left', 'vision2/cameras_vision2: north_wide_right', 'vision2/cameras_vision2:
          vision2', 'vision3/cameras_vision3: west_wide_left', 'vision3/cameras_vision3:
          west_wide_right', 'vision3/cameras_vision3: vision3', 'vision4/cameras_vision4:
          east_wide_left', 'vision4/cameras_vision4: east_wide_right', 'vision4/cameras_vision4:
          vision4', 'vision5/cameras_vision5: southwest_wide_left', 'vision5/cameras_vision5:
          southwest_wide_right', 'vision5/cameras_vision5: vision5', 'vision6/cameras_vision6:
          southeast_wide_left', 'vision6/cameras_vision6: southeast_wide_right', 'vision6/cameras_vision6:
          vision6']
      path: Cameras
      remove_prefix: [vision1/cameras_vision1, vision2/cameras_vision2, vision3/cameras_vision3,
        vision4/cameras_vision4, vision5/cameras_vision5, vision6/cameras_vision6]
      type: diagnostic_aggregator/GenericAnalyzer
camera_extrinsics: /etc/zoox/calibration/urdf/vehicle_specific/kitt_01/cameras_extrinsics_2017-10-20.xml
camera_intrinsics: /etc/zoox/calibration/param/vehicle_specific/kitt_01/cameras_intrinsics_2017-10-20.yaml
camera_layout_name: sauron
camera_rqt_perspective_file: vehicle/online_viz/rqt/camera_sauron.perspective
camera_yaml: /etc/zoox/calibration/param/vehicle_specific/kitt_01/cameras_intrinsics_2017-10-20.yaml
cameras:
  by_name:
    east_wide_left:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    east_wide_right:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    north_narrow_left:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    north_narrow_right:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    north_wide_left:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    north_wide_right:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    south_narrow_left:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    south_narrow_right:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    south_wide_left:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    south_wide_right:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    west_wide_left:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
    west_wide_right:
      image:
        theora: {keyframe_frequency: 64, optimize_for: 1, quality: 31, target_bitrate: 800000}
  camera1:
    imagesize: [1920, 1200]
    intrinsics: [1139.15949881, 1138.19863538, 984.197269788, 629.30275677, -0.203911288564,
      0.0714528906113]
    model: Poly2
    name: north_wide_left
    serial: 16062230
    type: Point Grey Blackfly
  camera10:
    imagesize: [1920, 1200]
    intrinsics: [1138.5829508264155, 1139.1124715184974, 988.0084021856138, 613.5045126043296,
      -0.19997142453236263, 0.06766929346434956]
    lens: Azure 6.5 mm
    model: Poly2
    name: west_wide_right
    serial: 16062187
    type: Point Grey Blackfly
  camera11:
    imagesize: [1920, 1200]
    intrinsics: [1135.34088058, 1135.11114424, 957.461600004, 602.244891475, -0.201404827274,
      0.0691084626405]
    lens: Ricoh 25mm
    model: Poly2
    name: southwest_wide_left
    serial: 15384262
    type: Point Grey Blackfly
  camera12:
    imagesize: [1920, 1200]
    intrinsics: [1138.37180611, 1138.28280222, 953.045676517, 605.535807689, -0.202419082876,
      0.0691790718583]
    lens: Ricoh 25mm
    model: Poly2
    name: southwest_wide_right
    serial: 15187868
    type: Point Grey Blackfly
  camera2:
    imagesize: [1920, 1200]
    intrinsics: [1134.64245568, 1134.53682863, 958.695389006, 614.620118422, -0.202389280091,
      0.0698391963148]
    lens: Azure 6.5 mm
    model: Poly2
    name: north_wide_right
    serial: 15187900
    type: Point Grey Blackfly
  camera3:
    imagesize: [1920, 1200]
    intrinsics: [3171.224245, 3170.96071128, 954.360958735, 594.236057795, -0.0974122804504,
      0.243126149688]
    lens: Ricoh 25mm
    model: Poly2
    name: north_narrow_left
    serial: 15223375
    type: Point Grey Blackfly
  camera4:
    imagesize: [1920, 1200]
    intrinsics: [3170.59094656, 3170.30016108, 965.392650981, 603.319849988, -0.0965836043861,
      0.237958488436]
    lens: Ricoh 25mm
    model: Poly2
    name: north_narrow_right
    serial: 16363755
    type: Point Grey Blackfly
  camera5:
    imagesize: [1920, 1200]
    intrinsics: [1134.03602182, 1133.75632894, 968.395727679, 623.488600929, -0.197649913629,
      0.0658435148151]
    lens: Azure 6.5 mm
    model: Poly2
    name: east_wide_right
    serial: 16062204
    type: Point Grey Blackfly
  camera6:
    imagesize: [1920, 1200]
    intrinsics: [1137.22494424, 1137.56821966, 977.95209958, 623.553492794, -0.197853174554,
      0.0652798726375]
    lens: Azure 6.5 mm
    model: Poly2
    name: east_wide_left
    serial: 15384271
    type: Point Grey Blackfly
  camera7:
    imagesize: [1920, 1200]
    intrinsics: [1133.9275386, 1133.20198926, 960.688955161, 630.552462333, -0.201322946765,
      0.0678792199443]
    lens: Azure 6.5 mm
    model: Poly2
    name: southeast_wide_left
    serial: 16398726
    type: Point Grey Blackfly
  camera8:
    imagesize: [1920, 1200]
    intrinsics: [1139.50959685, 1139.82100847, 976.40046812, 617.976447755, -0.20122907239,
      0.0685464371376]
    lens: Azure 6.5 mm
    model: Poly2
    name: southeast_wide_right
    serial: 16398749
    type: Point Grey Blackfly
  camera9:
    imagesize: [1920, 1200]
    intrinsics: [1137.3286245587492, 1136.7275764534577, 976.2187533432282, 628.229236763536,
      -0.1986984991681957, 0.06655504489189012]
    lens: Azure 6.5 mm
    model: Poly2
    name: west_wide_left
    serial: 16062231
    type: Point Grey Blackfly
  default_logging_enabled: false
  default_publish_rate: 1
  default_publish_resolution: 320
can_channels:
  can1: {ip: 192.168.3.21, port: 5001}
  can2: {ip: 192.168.3.21, port: 5002}
  can3: {ip: 192.168.3.22, port: 5001}
  can4: {ip: 192.168.3.22, port: 5002}
  can5: {ip: 192.168.3.23, port: 5001}
  can6: {ip: 192.168.3.23, port: 5002}
capability_server:
  defaults:
    launch: {Base: launch/base_compute_1_5, Camera: launch/camera_sauron, Dispatch: launch/dispatch,
      Drivers: launch/drivers_compute_1_5, Lidar: launch/lidar_velodyne, Localizer: launch/localizer_6dof,
      NoGo: launch/nogo, Perception: launch/perception_default, Planner: launch/planner_default,
      Pose: launch/pose_mofo, Radar: launch/radar_bosch_full, Teleop: launch/teleop_default, Vision: launch/vision_default}
  missing_default_provider_is_an_error: true
  package_whitelist: [launch]
  whitelist: [launch/Base, launch/Camera, launch/Dispatch, launch/Drivers, launch/Lidar,
    launch/Localizer, launch/NoGo, launch/Perception, launch/Planner, launch/Pose, launch/Radar,
    launch/Teleop, launch/Vision, launch/base_compute_1_5, launch/camera_sauron, launch/dispatch,
    launch/drivers_compute_1_5, launch/lidar_velodyne, launch/localizer_6dof, launch/localizer_fake,
    launch/nogo, launch/perception_default, launch/perception_sdl,
    launch/planner_default, launch/pose_mofo, launch/radar_bosch, launch/radar_bosch_full,
    launch/teleop_default, launch/vision_default]
drivers_diagnostic_aggregator:
  analyzers:
    drivers:
      analyzers:
        l3_power:
          expected: ['power_driver: efuse_ecu', 'power_driver: power_board_ecu']
          find_and_remove_prefix: [power_driver]
          num_items: 2
          path: Power
          type: diagnostic_aggregator/GenericAnalyzer
        lidar_aggregator1: {find_and_remove_prefix: 'lidar_aggregator1:', num_items: 1,
          path: LidarAggregator1, type: diagnostic_aggregator/GenericAnalyzer}
        lidar_aggregator2: {find_and_remove_prefix: 'lidar_aggregator2:', num_items: 1,
          path: LidarAggregator2, type: diagnostic_aggregator/GenericAnalyzer}
        llc_gateway: {num_items: 4, path: LlcGateway, startswith: llc_gateway, type: diagnostic_aggregator/GenericAnalyzer}
        mofo_gateway: {num_items: 1, path: MofoGateway, startswith: mofo_gateway,
          type: diagnostic_aggregator/GenericAnalyzer}
        netgear_10g_switch_monitor: {find_and_remove_prefix: 'netgear_10g_switch_monitor:',
          num_items: 1, path: Netgear10GSwitch, type: diagnostic_aggregator/GenericAnalyzer}
      path: Drivers
      type: diagnostic_aggregator/AnalyzerGroup
driving:
  imagery: {imagery_root: /home/zoox/imageries/2017-11-01, map3d: /home/zoox/imageries/2017-11-01/Tiles-10S-25-10}
  perception:
    cone_box_params: "padding_factor: .125\nparams_car {\n  length: 4.0\n  width:\
      \ 2.0\n  height: 3.0\n}\nparams_pedestrian {\n  length: 0.8\n  width: 0.5\n\
      \  height: 1.7\n}\nparams_bicyclist {\n  length: 1.5\n  width: 0.8\n  height:\
      \ 1.6\n}\n"
    do_birds_filtering: true
    do_vision_metaspin_association: true
    do_vision_pose_estimation: true
    do_vision_track_filtering: false
    dont_care_filter_pbtxt: 'ignore_observations_beyond: 5.0

      '
    dyn_max_size: 30.0
    dyn_max_size_no_rndf: 5.0
    dyn_moving_max_vel_var: 2.0
    dyn_moving_min_speed: 1.0
    hero_state_over_applanix: true
    heuristic_params: {min_tracker_observations_before_dynamic: 2}
    lidar_frame_classifier_params: "max_inputs: 2000\nuse_threaded: true\n[zoox.perception.SubhanetFrameClassifierProto.ext]\
      \ {\n  trt_file: \"s3cache://zoox-3dp/models/subhanet_engine_0908.trt3p0\"\n\
      \  classes_file: \"vehicle/perception/classification/data/params.classes\"\n\
      \  meanstd_file: \"vehicle/perception/classification/data/params_identity.meanstd\"\
      \n  scores_layer_name: \"fc_8\"\n  gpu_id: 0\n  viewpoint_x: 0.01\n  viewpoint_y:\
      \ 10\n  viewpoint_z: 2\n  max_cloud_points: 200000\n  input_gen_threads: 10\n\
      \  min_xy_dim_threshold_outside_road: 2.0\n  max_xy_dim_threshold_outside_road:\
      \ 3.0\n  max_xyz_dim_lower_threshold: 0.5\n  z_dim_threshold_outside_road: 2.0\n\
      \  score_bias: 0.7\n  score_bias: 0.0\n  score_bias: 1.0\n  score_bias: 0.0\n\
      }\n"
    max_distance_to_lane: 2
    max_num_points: 1000000
    noisy_blob_filter_params: 'min_blob_num_pts: 5

      near_robot_distance: 5.0

      min_blob_num_pts_near_robot: 25

      floating_above_ground_threshold: 1.5

      num_voxels_for_road_tagging: 6

      filter_distance_from_road_edge: 1

      '
    num_perception_threads: 4
    occlusion_grid_pbtxt: '# Controls the resolution of the occlusion grid.

      dist_per_bin: 0.1

      max_radius: 60.0

      degree_per_bin: 0.5

      '
    radar_cache_pbtxt: '# Controls which radars are processed by perception. To ignore
      data from a

      # radar, set the ''value'' to ''false''.

      use_front_radar : true

      use_left_radar  : true

      use_right_radar : true

      use_rear_radar : true

      use_rear_left_radar : true

      use_rear_right_radar : true

      default_radar_latency : 0.035

      max_ts_for_radar_obs_update : 0.7

      allow_conti_into_pcp : false

      max_delay_allowed : 0.2

      radar_radial_pos_std_dev: 1.0

      radar_angle_std_dev: 0.06

      radar_tangential_pos_min_std_dev: 0.5

      radar_radial_vel_std_dev: 0.5

      radar_tangential_vel_std_dev: 5.0

      '
    radar_double_bounce_detector_param_pbtxt: '# Radar double bounce detector

      max_distance_to_search : 50

      min_distance_to_search: 1.0

      min_dp_power: 0

      min_prob_exist: 0.7

      min_double_bounce_range_buf: 2.5

      max_double_bounce_range_buf: 5.0

      max_double_bounce_range_buf_factor: 0.1

      double_bounce_range_rate_buf : 1.5

      double_bounce_azimuth_buf: 0.03

      double_bounce_azimuth_buf_factor: 0.1

      double_bounce_min_range_rate: 0.5

      double_bounce_min_lateral_range: 1.5

      '
    radar_rndf: true
    rndf_filt:
      lane_dist_grid: {radius: 50, resolution: 0.3}
      lanes_img: {n_bands_per_lane: 7, resolution: 0.3, size: 200, threshold: 0.33}
    sensor_diagnostics_pbtxt: '# All vehicles have diagnostics enabled by default.
      This is the list of all

      # vehicles on which diagnostics are disabled (e.g. "kitt_07", "vh4_01")

      vehicle_diagnostics_blacklist: ["vh4_01", "vh4_02", "zimbeast_01", "zimbeast_02",
      "zimbeast_04", "kitt_sim"]

      '
    sort_obs_by_modality: true
    spin_loader: {downsample_one_in: 6, filter_inner_beams: true, filter_inner_beams_margin_deg: 25,
      filter_points_on_car: true, period: 0.1, preferred_main_velodyne: velodyne5,
      spin_ahead_fraction: 0.75, spin_timeout_fraction: 0.2}
    static_dynamic_params: 'clutter_min_num_observations: 3

      clutter_max_velocity: 5.0

      clutter_min_size: 1.0

      cone_angle_for_lead_vehicle: 0.17

      on_road_probability_for_clearing_static_grid: 0.8

      consider_unoccluded_if_fraction_below: 0.3

      '
    static_obs_grid: {resolution: 0.1, size: 80}
    tracking: {tracking_params_pbtxt: "multi_tracker_params {\n  pruning_thresh: 0.35\n  two_consecutive_obs_required:\
        \ true\n  track_db_grid_resolution: 3\n  track_db_grid_size: 200\n  phantomness_threshold:\
        \ 0.9\n  track_filter_max_distance_to_lane: 5\n create_tracks_from_radar:\
        \ true\n  create_tracks_from_lidar: true\n  create_tracks_from_vision: true\n\
        }\n# Association score params. When considering associations, prioritize the\n\
        # following features in order, using the best, highest-priority feature.\n\
        # IMPORTANT: the \"key\" field is the priority of the feature and must never\n\
        # be repeated!\n# TODO(Yushi 2017-09-19): Refactor or rewrite possibly prevent\
        \ collisions.\nblob_data_association_params {\n  score_params {\n    priority_to_score\
        \ {\n      key: 0\n      value: {\n          score_type: kLidarVolumeIntersection\n\
        \          min_valid_score: 0.5\n          min_high_score: 0.9\n      }\n\
        \    }\n    priority_to_score {\n      key: 1\n      value: {\n          score_type:\
        \ kLidarVisionAssociation\n          min_valid_score: -inf\n      }\n    }\n\
        \    priority_to_score {\n      key: 2\n      value: {\n          score_type:\
        \ kLidarConeBoxOverlap\n          min_valid_score: 0.2\n          min_high_score:\
        \ 0.9\n      }\n    }\n    priority_to_score {\n      key: 3\n      value:\
        \ {\n          score_type: kLidarKalmanFilter\n          min_valid_score:\
        \ -3.0\n      }\n    }\n    priority_to_score {\n      key: 4\n      value:\
        \ {\n          score_type: kLidarBestRadarDistance\n          min_valid_score:\
        \ -2.0\n      }\n    }\n    priority_to_score {\n      key: 5\n      value:\
        \ {\n          score_type: kLidarRadarCentroidDistance\n          min_valid_score:\
        \ -3.0\n      }\n    }\n  }\n  [zoox.perception.BlobDataAssociationParams.ext]\
        \ {\n    search_distance: 10.0\n    min_box_area: 1e-6\n  }\n  [zoox.perception.VisionDataAssociationParams.ext]\
        \ {\n    search_distance: 20.0\n  }\n  [zoox.perception.RadarDataAssociationParams.ext]\
        \ {\n    search_distance: 20.0\n  }\n}\nradar_data_association_params {\n\
        \  score_params {\n    priority_to_score {\n      key: 0\n      value: {\n\
        \          score_type: kRadarModalityScore\n          min_valid_score: -inf\n\
        \      }\n    }\n    priority_to_score {\n      key: 1\n      value: {\n \
        \         score_type: kRadarAssociation\n          min_valid_score: -inf\n\
        \      }\n    }\n  }\n}\nvision_data_association_params {\n  score_params\
        \ {\n    priority_to_score {\n      key: 0\n      value: {\n          score_type:\
        \ kVisionToVisionAssociation\n          min_valid_score: -inf\n      }\n \
        \   }\n    priority_to_score {\n      key: 1\n      value: {\n          score_type:\
        \ kVisionConeBoxBlobOverlap\n          min_valid_score: 0.2\n          min_high_score:\
        \ 0.9\n      }\n    }\n    priority_to_score {\n      key: 2\n      value:\
        \ {\n          score_type: kVisionConeBoxTrackOverlap\n          min_valid_score:\
        \ 0.2\n          min_high_score: 0.9\n      }\n    }\n    priority_to_score\
        \ {\n      key: 3\n      value: {\n          score_type: kVisionTrackSurfaceDistance\n\
        \          min_valid_score: -0.2\n      }\n    }\n    priority_to_score {\n\
        \      key: 4\n      value: {\n          score_type: kVisionToCrossVisionAssociation\n\
        \          min_valid_score: -inf\n      }\n    }\n    priority_to_score {\n\
        \      key: 5\n      value: {\n          score_type: kVisionToRadarAssociation\n\
        \          min_valid_score: -6\n      }\n    }\n    priority_to_score {\n\
        \      key: 6\n      value: {\n          score_type: kVisionKalmanFilter\n\
        \          min_valid_score: -3.0\n      }\n    }\n  }\n}\ntrack_factory_params\
        \ {\n  selective_track_init: true\n  spawn_close_to_veh_dist: 0\n  spawn_close_to_lane_dist:\
        \ 5\n  spawn_very_close_to_lane_dist: 1\n  vel_lane_prior_scale: 0.02\n}\n\
        trackers {\n  [zoox.perception.ComplementaryFilterParams.ext] {\n    initial_variance_position:\
        \ 0.1\n    initial_variance_extent: 0.1\n    initial_variance_yaw: 3.141\n\
        \    initial_variance_velocity: 50.0\n    initial_variance_yaw_rate: 0.0001\n\
        \    motion_variance_position: 0.1\n    motion_variance_extent: 5.0\n    motion_variance_yaw:\
        \ 0.2\n    motion_variance_velocity: 1.0\n    motion_variance_yaw_rate: 0.01\n\
        \    measurement_variance_position: 0.25\n    measurement_variance_extent:\
        \ 2.0\n    measurement_variance_yaw: 0.2\n    use_motion_model: true\n   \
        \ radar_associator {\n      association_classifier_parameters {\n        weights\
        \ {\n          key: \"radar_to_radar_id_match\"\n          value: 1.0\n  \
        \      }\n        weights {\n          key: \"radar_state_range_rate_difference\"\
        \n          value: -0.3\n        }\n        weights {\n        key: \"radar_to_state_position_difference\"\
        \n          value: -0.4\n        }\n        weights {\n          key: \"radar_projection_penalty\"\
        \n          value: -100\n        }\n        weights {\n          key: \"radar_to_radar_velocity_diff\"\
        \n          value: -0.3\n        }\n        bias: 0\n        threshold: -1.0\n\
        \      }\n      radar_to_state_range_rate_threshold: 7 #[m/s]\n      radar_to_state_position_difference_threshold:\
        \ 4.0 #[no unit]\n      radar_to_radar_velocity_threshold: 3.0 #[m/s]\n  \
        \    association_score_for_radar_radar_match: 0.1\n      max_speed_to_enable_projection_penalty:\
        \ 5.0 #[m/s]\n      min_radial_speed_to_associate_static_radar: 1.0 #[m/s]\n\
        \      max_speed_to_asso_static_radar_for_bike: 1.0 #[m/s]\n      max_speed_to_asso_static_radar_for_car:\
        \ 2.0 #[m/s]\n      v_based_threshold_lookup_v0:  0.0 #[m/s]\n      v_based_threshold_lookup_v1:\
        \  5.0 #[m/s]\n      v_based_threshold_lookup_y0:  3.0\n      v_based_threshold_lookup_y1:\
        \  1.0\n    }\n    filter_obb_params {\n     \
        \ vision_overwrites_class: true\n      high_variance: 1000\n      num_vision_obs_to_smooth:\
        \ 30\n      clip_vision_velocities_beyond: 50\n      smooth_velocity_proto\
        \ {\n       wait_for_observations: 5\n       obs_to_begin_compute: 5\n   \
        \    acceleration_th: 4.0\n       use_vision_orientation: true\n       use_vision_position_confidence:\
        \ true\n       velocity_norm_threshold: 30.0\n      }\n      measurement_variance_position_vision:\
        \ 1.0\n      measurement_variance_extent_vision: 1000.0\n      vision_position_at_object_surface:\
        \ false\n      use_vision_position_when_lidar_is_older_than: 0.2\n      set_yaw_in_direction_of_velocity:\
        \ 3.0\n      use_radar_position_when_lv_is_older_than: 0.4\n      use_radar_for_state_update:\
        \ true\n      # kf_score_diff_threshold\
        \ is ln(4.0).\n      kf_score_diff_threshold: 1.38629\n      confident_blob_box_max_side_threshold:\
        \ 3.0\n      minimum_range_to_use_radar_pos_for_rv_track: 20.0\n      no_vision_radial_update_when_radar_newer_than:\
        \ 0.3\n      consider_unoccluded_if_fraction_below: 0.5\n      big_extent_diff_threshold:\
        \ 1.0\n      use_corner_tracking_if_extent_above: 2.0\n    }\n    radar_filter_params\
        \ {\n      output_dynamic_radar_tracks_only: true\n      rndf_filter_radar:\
        \ true\n      min_confidence_new_radar_track: 0.9\n      min_confidence_persistent_radar_track:\
        \ 0.3\n      radar_bosch_count_threshold: 3\n      side_radar_yaw_threshold:\
        \ 0.3\n      max_doppler_difference: 5.0\n      bosch_kf_trusty_range_min:\
        \ 10.0\n      bosch_mrr_lobe_max_angle: 0.5\n      bosch_min_db_power: 0.0\n\
        \      bosch_min_close_oncoming_velocity: -10.0\n      bosch_corner_lobe_max_angle:\
        \ 0.85\n      bosch_corner_lobe_max_angle_for_new_track: 0.785\n      bosch_new_track_min_db_power:\
        \ 10.0\n      bosch_new_track_min_range: 30.0\n    }\n    vision_associator\
        \ {\n      distance_threshold: 2.0\n      time_diff_threshold: 0.4\n     \
        \ track_feature_threshold_across_camera: 0.35\n      track_feature_threshold_within_camera:\
        \ 0.25\n      vision_to_radar_max_dist_fraction_diff: 0.2\n      vision_to_radar_max_angle_diff:\
        \ 0.03\n      vision_to_radar_min_db_power: 5.0\n      fraction_of_distance_from_baselink_th:\
        \ 0.1\n    }\n    allowed_time_gap_for_static_radar_asso_near: 0.3\n    allowed_time_gap_for_static_radar_asso_far:\
        \ 1.5\n    static_radar_asso_dist_threshold: 50.0\n    max_ped_velocity_or_offroad:\
        \ 3.0\n    max_velocity_offroad_blob_in_freespace: 4.0\n    max_ped_velocity_onroad:\
        \ 5.0\n    max_bike_velocity: 15.0\n    max_car_velocity: 24.0\n    max_ped_extent: 2.5\n    trust_lidar_within_from_robot: 25.0\n  \
        \  min_box_extent_to_be_trust_worthy: 0.5\n    num_vision_class_observations_to_be_confident:\
        \ 5\n    num_moving_fast_observation_to_be_confident: 3\n    num_lidar_observations_to_be_confident:\
        \ 3\n    min_car_width_to_be_confident: 0.4\n    moving_slow_velocity: 2.0\n\
        \    blob_valid_from_shape: 0.2\n    prune_radar_if_not_observed_for: 0.17\n\
        \    set_yaw_in_direction_of_velocity: 3.0\n    canonicalize_orientation_min_speed_car:\
        \ 1.0\n    canonicalize_orientation_min_speed_other: 1.0\n    lidar_track_creation_min_height_from_ground:\
        \ 0.3\n    lidar_track_creation_max_height_from_ground: 1.5\n    lidar_track_creation_off_road_max_xy:\
        \ 3.0\n    lidar_track_creation_off_road_max_z: 2.0\n    static_if_on_road_probability_below:\
        \ 0.7\n    parked_car_classification_params {\n      probability_dynamic_when_definitely_on_road:\
        \ 1.0\n      probability_dynamic_when_vision_near_edge_of_road: 0.5\n    \
        \  probability_dynamic_when_not_on_road_but_moving_fast: 0.1\n      probability_dynamic_when_not_on_road_but_moved_fast_before:\
        \ 0.3\n      road_status_hysteresis: 0.8\n      past_observations_to_consider:\
        \ 15\n      road_status_hysteresis_for_bike_and_ped: 0.7\n    }\n    stick_dynamic_label_count_for_lidar_track:\
        \ 20\n    velocity_threshold_for_dynamic_stickiness: 2.0\n    vision_observation_valid_from_shape:\
        \ 0.50\n    vision_valid_for_class: 1.0\n    distance_into_the_road_for_dynamic:\
        \ 0.25\n    blob_associator {\n      ignore_blob_if_off_road_distance_ped:\
        \ 5.0,\n      ignore_blob_if_off_road_distance_bike: 5.0,\n      ignore_blob_if_off_road_distance_car:\
        \ 1.0,\n      ignore_blob_if_off_road_distance_clutter: 5.0,\n      ignore_blob_if_larger_height:\
        \ 4.5,\n      min_track_surface_dist_for_conebox_overlap: 1.5,\n      min_vel_for_fast_moving:\
        \ 5.0,\n    }\n    size_filter_params {\n      discard_lidar_blobs_with_min_extent_more_than:\
        \ 3.0\n      discard_ped_blobs_with_min_extent_more_than: 1.5\n      discard_ped_blobs_with_max_extent_more_than:\
        \ 2.0\n      discard_ped_blobs_with_max_height_more_than: 2.5\n      discard_bike_blobs_with_min_extent_more_than:\
        \ 1.5\n      discard_bike_blobs_with_max_extent_more_than: 2.5\n      blob_can_be_a_truck_if_extent_more_than:\
        \ 6.0\n      discard_trucks_lidar_blobs_with_min_extent_more_than: 3.4\n \
        \     big_vehicle_yaw_error: 0.1\n    }\n    volume_intersection_threshold:\
        \ 0.5\n    area_intersection_threshold: 0.7\n    car_box_prior_params {\n\
        \      length: 4.5\n      width: 2.0\n      height: 3.0\n      min_num_observations:\
        \ 3\n      min_velocity_magnitude_xy: 3.0\n      extend_length_in_visible_direction:\
        \ 0.5\n      extend_width_in_visible_direction: 0.5\n    }\n    big_vehicle_box_prior_params\
        \ {\n      length: 9.0\n      width: 2.0\n      height: 4.0\n      min_num_observations:\
        \ 3\n      min_velocity_magnitude_xy: 3.0\n      extend_length_in_visible_direction:\
        \ 0.5\n      extend_width_in_visible_direction: 0.5\n    }\n    min_slow_velocity_for_yaw:\
        \ 1.0\n    min_fast_velocity_for_yaw: 3.0\n    min_slow_velocity_history_for_yaw:\
        \ 5\n    consecutive_velocity_max_angle: 0.5\n    prune_track_if_variance_above:\
        \ 0.25\n    prune_occluded_track_if_variance_above: 1.2\n    prune_lv_track_if_not_observed_for:\
        \ 0.3\n    prune_l_track_if_not_observed_for: 0.1\n    blob_is_stale_if_older:\
        \ 0.02\n\n    min_zheight_to_extend_state_box_for_big_vehicles: 2.5\n\n  \
        \  clutter_reclassify: true\n    clutter_reclassify_min_speed_to_classify_as_car:\
        \ 3.0\n    clutter_reclassify_max_speed_to_classify_as_car: 40.0\n\n    clutter_reclassify_min_smaller_extent_to_classify_as_fast_car:\
        \ 1.5\n\n    clutter_reclassify_min_zheight_to_classify_as_big_car: 2.0\n\
        \    clutter_reclassify_max_zheight_to_classify_as_big_car: 4.3\n\n    clutter_reclassify_min_smaller_extent_to_classify_as_big_car:\
        \ 1.0\n    clutter_reclassify_max_smaller_extent_to_classify_as_big_car: 5.0\n\
        \n    clutter_reclassify_min_count_to_persist_classification_as_car: 4\n \
        \   clutter_reclassify_bottom_plane_min_z_to_tag_as_hanging: 1.0\n\n    kalman_da_log_likelihood_for_peds:\
        \ -1.0\n    num_of_vision_observations_for_high_confidence: 60\n\n    min_blob_box_fraction_inside_road_for_car:\
        \ 0.7\n    freespace_voxel_ratio_threshold: 0.7\n\n    remove_vision_track_id_not_seen_for:\
        \ 0.7\n    radar_range_rate_cov: 0.25 #[m2/s2]\n    vision_velocity_variance:\
        \ 0.1\n    min_num_voxels_for_freespace_track_creation: 5\n    kalman_da_log_likelihood_for_clutter:\
        \ -1.0\n    allow_high_uncertainity_if_track_moving: 1.0\n    velocity_covariance_to_be_confidence:\
        \ 0.7\n    persist_likely_moving_threshold: 7\n    consecutive_likely_moving_threshold:\
        \ 2\n    likely_moving_max_velocity_covariance: 0.75\n    likely_moving_min_velocity:\
        \ 0.5\n    likely_moving_max_velocity: 3.0\n    likely_moving_min_yaw_rate:\
        \ 0.03\n    likely_moving_max_yaw_rate: 0.3\n    likely_moving_min_freespace:\
        \ 0.15\n  }\n}\n"}
    use_lidar: true
    use_radar: true
    use_road_info_tagger_for_lidar: true
    use_road_info_tagger_for_radar: true
    use_road_info_tagger_for_vision: true
    use_vision: true
    vision_cache_pbtxt: "discard_vision_detections_older_than: 0.2\nvision_camera_configs\
      \ {\n  camera_configs: [\"storm\", \"newt\", \"tiger\", \"unknown\"]\n  ignore_car_classification_from\
      \ {\n    key: \"north_narrow_left\"\n    value: true\n  }\n}\nvision_camera_configs\
      \ {\n  camera_configs: \"sauron\"\n  ignore_car_classification_from\
      \ {\n    key: \"north_narrow_left\"\n    value: true\n  }\n}\nvision_camera_configs\
      \ {\n  camera_configs: \"voldemort\"\n  ignore_car_classification_from\
      \ {\n    key: \"north_narrow_left\"\n    value: true\n  }\n  ignore_car_classification_from\
      \ {\n    key: \"south_narrow_left\"\n    value: true\n  }\n}\nvision_track_association_camera_pairs\
      \ {\n  camera_friendly_name1: \"north_narrow_left\"\n  camera_friendly_name2:\
      \ \"north_wide_left\"\n}\nvision_track_association_camera_pairs {\n  camera_friendly_name1:\
      \ \"north_narrow_left\"\n  camera_friendly_name2: \"north_narrow_left\"\n}\n\
      vision_track_association_camera_pairs {\n  camera_friendly_name1: \"north_wide_left\"\
      \n  camera_friendly_name2: \"north_wide_left\"\n}\nvision_track_association_camera_pairs\
      \ {\n  camera_friendly_name1: \"southwest_wide_left\"\n  camera_friendly_name2:\
      \ \"southeast_wide_right\"\n}\nvision_track_association_camera_pairs {\n  camera_friendly_name1:\
      \ \"southwest_wide_left\"\n  camera_friendly_name2: \"southwest_wide_left\"\n\
      }\nvision_track_association_camera_pairs {\n  camera_friendly_name1: \"southeast_wide_right\"\
      \n  camera_friendly_name2: \"southeast_wide_right\"\n}\nvision_track_association_camera_pairs\
      \ {\n  camera_friendly_name1: \"east_wide_right\"\n  camera_friendly_name2:\
      \ \"east_wide_right\"\n}\nvision_track_association_camera_pairs {\n  camera_friendly_name1:\
      \ \"east_wide_left\"\n  camera_friendly_name2: \"east_wide_left\"\n}\nvision_track_association_camera_pairs\
      \ {\n  camera_friendly_name1: \"west_wide_right\"\n  camera_friendly_name2:\
      \ \"west_wide_right\"\n}\nvision_track_association_camera_pairs {\n  camera_friendly_name1:\
      \ \"west_wide_left\"\n  camera_friendly_name2: \"west_wide_left\"\n}\n"
    vision_lidar_transfer_params: "min_2d_intersection: 0.0\nmin_3d_intersection:\
      \ 0.0\nmin_score: 0.5\npadding_factor: .125\nparams_car {\n  neg_good_limit:\
      \ -2.0\n  pos_good_limit: 2.0\n  max_width: 3.4\n}\nparams_pedestrian {\n  neg_good_limit:\
      \ -0.5\n  pos_good_limit: 0.5\n  max_length: 1.5\n  max_width: 1.0\n  max_height:\
      \ 2.5\n}\nparams_bicyclist {\n  neg_good_limit: -1.0\n  pos_good_limit: 1.0\n\
      \  max_length: 2.5\n  max_width: 1.0\n}\nmerge_inliers: true\n"
    vision_metaspin_associator_params: "# These two coefficients are used to transform\
      \ score as follows:\n# normalized_score = sigmoid(coef_0 + coef_1 * raw_score)\n\
      score_normalization_coefficient: -0.6054\nscore_normalization_coefficient: 0.4798\n\
      filter_score_threshold: 0.3987 # Normalized version of previous threshold.\n\
      detection_size_option {\n  label: PERCEPTION_LABEL_PEDESTRIAN\n  min_height:\
      \ 0.5\n  min_diameter: 0.25\n  max_height: 3.0\n  max_diameter: 2.0\n}\ndetection_size_option\
      \ {\n  label: PERCEPTION_LABEL_COMPOUND_TWO_WHEELS\n  min_diameter: 0.25\n \
      \ min_height: 0.5\n  max_height: 3.0\n  max_diameter: 4.0\n}\n# Coefficients\
      \ for variance estimation. The order of the coefficients is:\n# coef_0: bias\n\
      # coef_1: mono prob\n# coef_2: estimated depth\n# coef_3: estimated_depth ^\
      \ 2\n# coef_4: sum of point scores for hypothesis\n# coef_5: (sum of point scores\
      \ for hypothesis) ^ 2\nvariance_coefficients: 0.562616070802\nvariance_coefficients:\
      \ -0.06209278\nvariance_coefficients: 0.00719609\nvariance_coefficients: 0.00037154\n\
      variance_coefficients: -0.00072401\nvariance_coefficients: 0.00093701\n"
    vision_pose_estimation_params: "camera_to_use: \"north_wide_left\"\ncamera_to_use:\
      \ \"north_wide_right\"\npose_estimation_options {\n  solver_options {\n    reprojection_cost\
      \ {\n      weight: 1.0\n      min_visibility_weight: 0.20\n    }\n    point_on_box_face_cost\
      \ { weight: 1.0 }\n    shape_cost {\n      extent_x_weight: 1.0\n      extent_y_weight:\
      \ 1.0\n      extent_z_weight: 1.0\n      extent_x_expected: 3.5\n      extent_y_expected:\
      \ 1.75\n      extent_z_expected: 1.47\n    }\n    ceres_options {\n      max_solver_time_in_seconds:\
      \ 0.001\n      max_num_iterations: 50\n    }\n  }\n  valid_observation_thresholds\
      \ {\n    visible_threshold: 0.70\n    max_stddev_for_visible_point: 0.15\n \
      \   min_number_visible_confident_points: 2\n  }\n  valid_solution_options {\n\
      \    max_distance_from_camera: 200.0\n    min_depth_in_camera_frame: 1.0\n \
      \   max_depth_in_camera_frame: 100.0\n    min_extent: 1.1\n    max_extent: 15.0\n\
      \  }\n}\n"
    vision_track_filter: 'max_pts_buffer_duration: 0.5

      time_window: 0.1

      thickness: 2.0

      pts_count_thresh: 1

      filter_range: 25.0

      '
  planner: {configuration_file: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/vehicle/planner/node/planner_configuration.pbtxt}
  radar:
    config: {steer_angle_ratio: 16, use_steer_angle: 1, wheel_base: 2.78}
    radar_front: {mount_angle: 0.0196009, orientation: 0, x_offset: 3.66, y_offset: -.04}
    radar_left: {mount_angle: 0.926308, orientation: 0, x_offset: 3.35, y_offset: 0.96}
    radar_rear: {mount_angle: -3.13909, orientation: 0, x_offset: -1.15, y_offset: 0}
    radar_rear_left: {mount_angle: 2.43567, orientation: 0, x_offset: -0.93, y_offset: 0.96}
    radar_rear_right: {mount_angle: -2.45577, orientation: 0, x_offset: -0.93, y_offset: -0.96}
    radar_right: {mount_angle: -0.937898, orientation: 0, x_offset: 3.35, y_offset: -0.96}
  vehicle:
    dbw: {max_steering: 35}
    dimensions:
      FA_to_front_bumper: 1.03
      IMU_to_CG: 0.0
      IMU_to_FA: 2.79
      IMU_to_rear_bumper: 1.1
      applanix_origin_height: 0.3702
      axle_to_origin_height: 0.37
      clearance_level: 2.4
      length: 4.86
      point_rejection_BB:
        max: {x: 3.8, y: 1.3, z: 2.4}
        min: {x: -1.1, y: -1.3, z: -0.3}
      virtual_velodyne_offset: {pitch: 0.0, roll: 0.0, x: 1.5, y: 0.0, yaw: 3.14,
        z: 1.52}
      wheel_base: 2.79
      wheel_track: 1.65
      width: 2.14
    dynamic_parameters: {max_steering_rate: 80, steering_ratio: 1}
  velodyne1:
    driver_node: {device_ip: 192.168.3.50, frame_id: velodyne1, model: VLP16-hires,
      npackets: 20, port: 2370, telem_port: 8310}
  velodyne2:
    driver_node: {device_ip: 192.168.3.51, frame_id: velodyne2, model: VLP16-hires,
      npackets: 20, port: 2371, telem_port: 8311}
  velodyne3:
    driver_node: {device_ip: 192.168.3.52, frame_id: velodyne3, model: VLP16, npackets: 20,
      port: 2372, telem_port: 8312}
  velodyne4:
    driver_node: {device_ip: 192.168.3.53, frame_id: velodyne4, model: VLP16, npackets: 20,
      port: 2373, telem_port: 8313}
  velodyne5:
    driver_node: {device_ip: 192.168.3.54, frame_id: velodyne5, model: VLP16-hires,
      npackets: 20, port: 2374, telem_port: 8314}
  velodyne6:
    driver_node: {device_ip: 192.168.3.55, frame_id: velodyne6, model: VLP16-hires,
      npackets: 20, port: 2375, telem_port: 8315}
  velodyne7:
    driver_node: {device_ip: 192.168.3.56, frame_id: velodyne7, model: VLP16, npackets: 20,
      port: 2376, telem_port: 8316}
  velodyne8:
    driver_node: {device_ip: 192.168.3.57, frame_id: velodyne8, model: VLP16, npackets: 20,
      port: 2377, telem_port: 8317}
enable_statistics: false
gpu_monitor: {diagnostic_hostname: mainai}
gpu_monitor_brix1: {diagnostic_hostname: vision1}
gpu_monitor_brix2: {diagnostic_hostname: vision2}
gpu_monitor_brix3: {diagnostic_hostname: vision3}
gpu_monitor_brix4: {diagnostic_hostname: vision4}
gpu_monitor_brix5: {diagnostic_hostname: vision5}
gpu_monitor_brix6: {diagnostic_hostname: vision6}
hd_monitor: {diagnostic_hostname: mainai, mount_points: /}
hd_monitor_brix1: {diagnostic_hostname: vision1, mount_points: '/,/data'}
hd_monitor_brix2: {diagnostic_hostname: vision2, mount_points: '/,/data'}
hd_monitor_brix3: {diagnostic_hostname: vision3, mount_points: '/,/data'}
hd_monitor_brix4: {diagnostic_hostname: vision4, mount_points: '/,/data'}
hd_monitor_brix5: {diagnostic_hostname: vision5, mount_points: '/,/data'}
hd_monitor_brix6: {diagnostic_hostname: vision6, mount_points: '/,/data'}
hd_smart_monitor: {pub_period: 60.0}
hd_smart_monitor1: {pub_period: 60.0}
hd_smart_monitor2: {pub_period: 60.0}
hd_smart_monitor3: {pub_period: 60.0}
hd_smart_monitor4: {pub_period: 60.0}
hd_smart_monitor5: {pub_period: 60.0}
hd_smart_monitor6: {pub_period: 60.0}
lidar_aggregator1: {board_hostname: lidar-aggregator1}
lidar_aggregator2: {board_hostname: lidar-aggregator2}
lidar_extrinsics: /etc/zoox/calibration/urdf/vehicle_specific/kitt_01/pucks_2017-10-19.xml
lidar_velodyne_diagnostic_aggregator:
  analyzers:
    lidar:
      analyzers:
        velodyne1: {find_and_remove_prefix: driving/velodyne1, num_items: 2, path: Velodyne1,
          type: diagnostic_aggregator/GenericAnalyzer}
        velodyne2: {find_and_remove_prefix: driving/velodyne2, num_items: 2, path: Velodyne2,
          type: diagnostic_aggregator/GenericAnalyzer}
        velodyne3: {find_and_remove_prefix: driving/velodyne3, num_items: 2, path: Velodyne3,
          type: diagnostic_aggregator/GenericAnalyzer}
        velodyne4: {find_and_remove_prefix: driving/velodyne4, num_items: 2, path: Velodyne4,
          type: diagnostic_aggregator/GenericAnalyzer}
        velodyne5: {find_and_remove_prefix: driving/velodyne5, num_items: 2, path: Velodyne5,
          type: diagnostic_aggregator/GenericAnalyzer}
        velodyne6: {find_and_remove_prefix: driving/velodyne6, num_items: 2, path: Velodyne6,
          type: diagnostic_aggregator/GenericAnalyzer}
        velodyne7: {find_and_remove_prefix: driving/velodyne7, num_items: 2, path: Velodyne7,
          type: diagnostic_aggregator/GenericAnalyzer}
        velodyne8: {find_and_remove_prefix: driving/velodyne8, num_items: 2, path: Velodyne8,
          type: diagnostic_aggregator/GenericAnalyzer}
      path: Lidar
      type: diagnostic_aggregator/AnalyzerGroup
llc_gateway: {can_interface_ai: can0, can_interface_chassis: can1, can_interface_das: can2,
  tracker_provider: tracker_ai}
localizer6dof:
  applanix_missing_threshold_duration: 1
  do_multi_search: false
  do_multi_search_from_gps: true
  full_spin_missing_threshold_duration: 1
  icp:
    asso:
      hit2model_dist_max: 1
      inlier_selector_threshold: {threshold: 2}
      inlier_selector_type: threshold
      inlier_selector_zhang: {D: 0.1}
      ray_cast_strategy: point_to_sensor_and_opposite
    confidence: {inlier_dist_thresh: 0.1, inlier_ratio_lower_bound: 0.5, inlier_ratio_upper_bound: 1.0,
      max_val: 0.9, min_val: 0.1}
    opti:
      asso_num_min: 20
      asso_score_sigma: 0.5
      failed_assos_dist_max: 2
      solver: gn
      termination:
        cost_conv_tol: 0
        max_iterations: 30
        motion: {rot: 0, trans: 0}
  icp_model_radius: 60
  ignore_first_poses: 2
  init_z_from_map: true
  lidar_missing_threshold_duration: 1
  local_utm_origin: {x: 570036.004054358, y: 4141549.977022735, zone: 10S}
  multi_search_offset: 2
  spin_loader: {dist_min: 5, downsampling_strategy: ring, meta_spin_max_duration: 1,
    meta_spin_min_num_points: 200000, meta_spin_period: 0.2, num_range_bins: 20, rnd_keep_ratio: 0.1}
  unable_to_localize_threshold_duration: 5.0
  z_init: {normal_orientation_deg: 45, radius: 5, surf_thresh_ratio: 0.25}
localizer_6dof_diagnostic_aggregator:
  analyzers:
    localizer:
      num_items: 2
      path: Localizer
      startswith: [localizer6dof, hero_state_node]
      type: diagnostic_aggregator/GenericAnalyzer
mofo_gateway: {data_port: 2180, expected_gps_rate: 1, expected_imu_rate: 200, ip_address: 192.168.0.8,
  status_port: 2575}
netgear_10g_switch_monitor: {board_hostname: netgear_10g_switch_monitor}
perception_diagnostic_aggregator:
  analyzers:
    perception: {num_items: 4, path: Perception, startswith: perception, type: diagnostic_aggregator/GenericAnalyzer}
planner: {tracker_provider: tracker_node}
planner_diagnostic_aggregator:
  analyzers:
    planner:
      expected: ['planner: decision_diagnostic', 'planner: mission_node', 'planner:
          mission_zci', 'planner: planner_corridor_zci', 'planner: /planner/decision/component_zci',
        'planner: /planner/operational_domain_diagnostic', 'planner: prediction_server_component_zci',
        'planner: smoother_zci', 'planner: teleop_obstacle_fusion_zci', 'tracker:
          tracker_zci']
      path: Planner
      remove_prefix: [planner, tracker]
      type: diagnostic_aggregator/GenericAnalyzer
pose_estimation_common_config: "# The type of estimator to use.\n#\n# BATCH: a full\
  \ batch optimization that jointly optimizes all poses using every\n#        measurement\
  \ in a log.\n#\n# SWF: sliding window filter that estimates a `window_length` window\
  \ of poses\n#      at a time, with optional prior constraint to anchor the oldest\
  \ pose.\n#\n# CONDITIONED: sliding window filter where the oldest pose is either\
  \ held\n#              constant or anchored with weight `conditioning_weight`.\n\
  #\n# INCREMENTAL_BATCH: Solves a new batch problem for each new pose that's added.\n\
  estimator_type: CONDITIONED\n\n# Length of the window in seconds.\nwindow_length:\
  \ 40\n\n# Maximum number of iterations per Ceres solver call.\nmax_iterations: 100\n\
  \n# Number of solver threads to use.\nnum_threads: 1\n\n# Print output to screen.\n\
  print_output: false\n\n# Saves a .csv file with the d_residual/d_parameter Jacobian\
  \ after each solver\n# call.\nsave_jacobian: false\n\n# Gravity vector.\ngravity:\
  \ {\n  x: 0\n  y: 0\n  z: 9.81\n}\n\n# Compute timing benchmarks.\nbenchmark: true\n\
  \n# Re-integrate all IMU measurements in window after each state update. This\n\
  # should be true for BATCH optimizations. It can also be helpful to set this\n#\
  \ true when visualizing the SWF in the trajectory viewer.\nintegrate_every_update:\
  \ false\n\n# Compute the full state covariance when doing a BATCH estimation.\n\
  compute_batch_covariance: false\n\n# Method with which to initialize poses in the\
  \ batch problem.  Allowed values:\n# GPS: initialize position from GPS and velocity/heading\
  \ from successive GPS\n# PROCESS: Use a simple wheel odometry bicycle process model.\n\
  # GPS_AND_PROCESS: Use GPS to initialize at high-speed and process model\n#    \
  \              at low_speed. Use `velocity_threshold`.\nbatch_init_method: GPS\n\
  velocity_threshold: 3.0\n\n# Strength of conditioning constraint for pose/velocity.\n\
  # These parameters are held constant when the weight is <0.\nconditioning_weight:\
  \ 1e3\n\n# Delay SWF initialization until a window of measurements has been captured\n\
  # that meets some dynamics requirements.\ndelayed_init_enabled: true\n\n# Speed\
  \ threshold below which we consider a pose to have insufficient\n# dynamics for\
  \ initialization (m/s).\ninitialization_speed_threshold: 2.0\n\n# Specifies what\
  \ dynaimcs condition must be met for the first window to be\n# optimized.\n#\n#\
  \ MEAN: The average speed of the poses in the window must be greater\n# than or\
  \ equal to the initialization_speed_threshold.\n#\n# \"absolute\": The absolute\
  \ speed of every pose in the window must be\n# greater than or equal to initialization_speed_threshold.\n\
  initialization_condition: MEAN\n\n# Specifies how new poses are predicted before\
  \ we do a full state update.\n#\n# IMU: Use pure inertial integration.\n#\n# GYRO:\
  \ Obtain incremental rotation from the gyro and assume constant\n# velocity since\
  \ the last state update.\n#\n# WHEELS: Obtain incremental rotation/translation from\
  \ the gyro and wheels.\n#\n# FOURWHEEL: VH4 crab steering model\nprediction_method:\
  \ WHEELS\n\n# Enable static initialization of the gyro biases.\nstatic_gyro_bias_init_enabled:\
  \ true\n\n# The number of second to be averaged while the vehicle is stationary\
  \ to\n# initialize the gyro biases.\nstatic_gyro_bias_init_num_secs: 10\n\n# Options\
  \ for GPS constraints.\ngps: {\n\n  # Measurement noise.\n  covariance: {\n    x:\
  \ 1\n    y: 1\n    z: 5\n  }\n\n  # Use the user-provided constant covariance when\
  \ \"true\".  When \"false\",\n  # approximate the noise covariance using the dilution-of-preceision\
  \ (DOP).\n  use_default_cov: true\n\n  # Huber loss parameter.  Huber loss disabled\
  \ when <0.\n  loss_param: 1\n\n  # Maximum frequency at which to add GPS constraints.\n\
  \  frequency: 1\n\n  # Enable calibrating the vehicle-GPS transform.\n  calibrate_extrinsics:\
  \ false\n  extrinsics_prior_cov: {\n    x: 1\n    y: 1\n    z: 1\n  }\n}\n\n# Options\
  \ for inertial constraints.\nimu: {\n\n  # Sensor measurement noise.\n  gyro_variance:\
  \ 1e-5\n\n  # Sensor measurement noise.\n  accel_variance: 1\n\n  # Noise for bias\
  \ random-walk process.\n  gyro_bias_variance: 1e-10\n\n  # Noise for bias random-walk\
  \ process.\n  accel_bias_variance: 1e-4\n\n  # Initial bias for IMU.\n  initial_bias:\
  \ {\n    gyro: {\n      x: 0\n      y: 0\n      z: 0\n    }\n    accel: {\n    \
  \  x: 0\n      y: 0\n      z: 0\n    }\n  }\n\n  calibrate_extrinsics: false\n \
  \ translation_extrinsics_prior_cov: {\n    x: 0.0001\n    y: 0.0001\n    z: 0.0001\n\
  \  }\n\n  rotation_extrinsics_prior_cov: {\n    x: 0.00015\n    y: 0.00015\n   \
  \ z: 0.00015\n  }\n}\n\n# Options for wheel-odometry constraints.\nwheel_odometry:\
  \ {\n  enabled: false\n\n  # Noise parameters.\n  translation_covariance: {\n  \
  \  x: 1e-3\n    y: 1e-3\n    z: 1e-3\n  }\n  rotation_covariance: {\n    x: 1e-3\n\
  \    y: 1e-3\n    z: 1e-3\n  }\n}\n\n# Options for non-holonomic velocity constraints.\n\
  non_holonomic: {\n  enabled: false\n\n  # Noise covariance.\n  covariance: {\n \
  \   x: 1e-1\n    y: 1e-5\n    z: 1e-5\n  }\n\n  # Velocity dependent weighting.\
  \  Below `v_thresh` the weight is constant at\n  # `weight_max`.  Above `v_thresh`,\
  \ the weight decays exponentially with\n  # \"time-constant\" `v_tau` to `weight_min`.\n\
  \  weight: {\n    weight_max: 10.0\n    weight_min: 1.0\n    v_thresh: 0.2\n   \
  \ v_tau: 0.1\n  }\n\n  calibrate: true\n}\n\n# Options for steering-rate constraints.\n\
  steering_rate: {\n  enabled: true\n\n  # Weight on steering-rate residuals.\n  weight:\
  \ 1e3\n\n  # Huber loss parameter.  Huber loss disabled when <0.\n  loss_param:\
  \ 1\n}\n\n# Options for magnetometer constraints.\nmag: {\n  enabled: false\n\n\
  \  # Measurement variance.\n  variance: 0.5\n\n  # Number of taps in moving average\
  \ filter.\n  filter_width: 10\n\n  # Use magnetometer only for heading initialization.\n\
  \  init_only: true\n\n  # Calibration coefficients.\n  calibration: {\n    coeff1:\
  \ 56238.3494692\n    coeff2: -5091.05196517\n    coeff3: -2.04756065112\n    coeff4:\
  \ -5091.05196517\n    coeff5: 56558.6583435\n    coeff6: 0.965730848261\n  }\n}\n\
  \n# Options for prior constraints.\nprior: {\n  enabled: false\n\n  # Initial covariance\
  \ on translation.\n  initial_cov_translation: {\n    x: 10\n    y: 10\n    z: 10\n\
  \  }\n\n  # Initial covariance on rotation.\n  initial_cov_rotation: {\n    x: 1\n\
  \    y: 1\n    z: 1\n  }\n\n  # Initial covariance on velocity.\n  initial_cov_velocity:\
  \ {\n    x: 1\n    y: 1\n    z: 1\n  }\n\n  # Initial covariance on IMU biases.\n\
  \  initial_cov_bias: {\n    gyro: {\n      x: 1e-2\n      y: 1e-2\n      z: 1e-2\n\
  \    }\n\n    accel: {\n      x: 1e-2\n      y: 1e-2\n      z: 1e-2\n    }\n  }\n\
  }\n\n# Options for 6DoF Localizer constraints.\nlocalizer: {\n  enabled: false\n\
  \n  # Maximum frequency at which to add localizer constraints.\n  frequency: 1\n\
  \n  p_value_threshold: 0\n\n  # Weighting on localizer provided covariance.\n  translation_weight:\
  \ {\n    x: 1e-1\n    y: 1e-1\n    z: 1e-1\n  }\n\n  rotation_weight: {\n    x:\
  \ 1e-3\n    y: 1e-3\n    z: 1e-3\n  }\n\n  # Huber loss parameter.  Huber loss disabled\
  \ when <0.\n  loss_param: 1\n}\n\npressure: {\n  enabled: false\n  variance: 0.1\n\
  \  bias_variance: 1e-3\n}\n\nsmooth_orientation: true\n\n# If we haven't received\
  \ a valid GPS message for this long, it will be a\n# fault that will result in a\
  \ Nogo\nno_gps_fault_timeout: 60\n"
pose_estimation_vehicle_config: "# Options for GPS constraints.\ngps: {\n\n  # Vehicle\
  \ to sensor transform for primary (rear) antenna.\n  primary_antenna_transform:\
  \ {\n    x: 0.24\n    y: 0\n    z: 1.4\n  }\n\n  # Vehicle to sensor transform for\
  \ secondary (front) antenna.\n  secondary_antenna_transform: {\n    x: 1.65\n  \
  \  y: 0\n    z: 1.4\n  }\n\n  # Enable calibrating the vehicle-GPS transform.\n\
  \  calibrate_extrinsics: false\n  extrinsics_prior_cov: {\n    x: 1\n    y: 1\n\
  \    z: 1\n  }\n}\n\n# Options for inertial constraints.\nimu: {\n  # IMU to vehicle\
  \ transform.\n  transform: {\n    translation: {\n      x: 0.2886832041546602\n\
  \      y: -0.33044077258538396\n      z: -0.09969542924014653\n    }\n    euler_rotation:\
  \ {\n      roll_radians: -0.0014835271667958724\n      pitch_radians: 0.031074054548978151\n\
  \      yaw_radians: 0.0082629492571294361\n    }\n  }\n}\n\n# Options for wheel-odometry\
  \ constraints.\nwheel_odometry: {\n  # Wheel radius in meters.\n  wheel_radius:\
  \ 0.33\n\n  # Wheel base (distance between front and rear axles) in meters.\n  wheel_base:\
  \ 3.05\n}\n\n# Specifies how new poses are predicted before we do a full state update.\n\
  #\n# IMU: Use pure inertial integration.\n#\n# GYRO: Obtain incremental rotation\
  \ from the gyro and assume constant\n# velocity since the last state update.\n#\n\
  # WHEELS: Obtain incremental rotation/translation from the gyro and wheels.\n#\n\
  # FOURWHEEL: VH4 crab steering model\nprediction_method: WHEELS\n\n# Options for\
  \ non-holonomic velocity constraints.\nnon_holonomic: {\n  enabled: true\n\n  #\
  \ Noise covariance.\n  covariance: {\n    x: 1e-1\n    y: 1e-5\n    z: 1e-5\n  }\n\
  \n  # Velocity dependent weighting.  Below `v_thresh` the weight is constant at\n\
  \  # `weight_max`.  Above `v_thresh`, the weight decays exponentially with\n  #\
  \ \"time-constant\" `v_tau` to `weight_min`.\n  weight: {\n    weight_max: 10.0\n\
  \    weight_min: 1.0\n    v_thresh: 0.2\n    v_tau: 0.1\n  }\n\n  calibrate: true\n\
  \  velocity_scale: 1.0\n  velocity_offset: 0\n}\n\n# Options for magnetometer constraints.\n\
  mag: {\n  # Calibration coefficients.\n  calibration: {\n    coeff1: 56238.3494692\n\
  \    coeff2: -5091.05196517\n    coeff3: -2.04756065112\n    coeff4: -5091.05196517\n\
  \    coeff5: 56558.6583435\n    coeff6: 0.965730848261\n  }\n}\n"
pose_mofo_diagnostic_aggregator:
  analyzers:
    pose:
      find_and_remove_prefix: [pose_estimator, swf_solver, swf_inertial]
      num_items: 3
      path: Pose
      type: diagnostic_aggregator/GenericAnalyzer
power_driver: {can_interface: can0}
radar_calibration_date: '2017-10-07'
radar_diagnostic_aggregator:
  analyzers:
    radar1: {find_and_remove_prefix: radar_driver1, path: Radar1, type: diagnostic_aggregator/GenericAnalyzer}
    radar2: {find_and_remove_prefix: radar_driver2, path: Radar2, type: diagnostic_aggregator/GenericAnalyzer}
    radar3: {find_and_remove_prefix: radar_driver3, path: Radar3, type: diagnostic_aggregator/GenericAnalyzer}
    radar4: {find_and_remove_prefix: radar_driver4, path: Radar4, type: diagnostic_aggregator/GenericAnalyzer}
    radar5: {find_and_remove_prefix: radar_driver5, path: Radar5, type: diagnostic_aggregator/GenericAnalyzer}
    radar6: {find_and_remove_prefix: radar_driver6, path: Radar6, type: diagnostic_aggregator/GenericAnalyzer}
  path: Radar
  type: diagnostic_aggregator/AnalyzerGroup
radar_driver1:
  radar_driver: {can_interface: can1, radar_name: radar_front, radar_type: bosch_mrr,
    udp_port: 40000}
radar_driver2:
  radar_driver: {can_interface: can2, radar_name: radar_rear, radar_type: bosch_mrr,
    udp_port: 40000}
radar_driver3:
  radar_driver: {can_interface: can3, radar_name: radar_left, radar_type: bosch_mrr,
    udp_port: 40000}
radar_driver4:
  radar_driver: {can_interface: can4, radar_name: radar_right, radar_type: bosch_mrr,
    udp_port: 40000}
radar_driver5:
  radar_driver: {can_interface: can5, radar_name: radar_rear_left, radar_type: bosch_mrr,
    udp_port: 40000}
radar_driver6:
  radar_driver: {can_interface: can6, radar_name: radar_rear_right, radar_type: bosch_mrr,
    udp_port: 40000}
radar_params: /etc/zoox/calibration/param/vehicle_specific/kitt_01/radar_config_2017-10-07.yaml
radar_urdf: /etc/zoox/calibration/urdf/vehicle_specific/kitt_01/radars_2017-10-07.xml
rcv_state_publisher: {use_tf_static: true}
rn2_file: /home/zoox/driving/vehicle/zrn/embarcadero.zrn.pbtxt
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/packages/zoox/rcv/urdf/rcv.xml\
  \ | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                \
  \                 | -->\n<!-- ===================================================================================\
  \ -->\n<robot name=\"rcv\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n  <link\
  \ name=\"base_link\" xmlns:xacro=\"http://www.ros.org/wiki/xacro\">\n    <visual>\n\
  \      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"\
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  \ </geometry>\n      <material name=\"black\">\n        <color rgba=\"1 1 1 1\"\
  />\n      </material>\n    </visual>\n    <visual>\n      <origin rpy=\"-0.007649684\
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  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.037239936 0.202407153 2.45438546563\" xyz=\"-0.947268285737 0.811754950389\
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  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
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  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
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  \ rpy=\"-0.014045714 0.224614865 0.952870369631\" xyz=\"3.32824929573 0.914025338675\
  \ 0.435000002\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n    <visual>\n      <origin\
  \ rpy=\"-0.05113938 0.206848526 -0.936097625369\" xyz=\"3.35971141656 -0.936139578491\
  \ 0.444999993\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/puck.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <!-- wheel_base\
  \ -->\n  <link name=\"wheel_base_LF\"/>\n  <joint name=\"wheel_base_LF_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"wheel_base_LF\"/>\n\
  \    <origin rpy=\"0 0 0\" xyz=\"2.79                0.825                0.0\"\
  />\n  </joint>\n  <!-- Knuckle -->\n  <link name=\"knuckle_LF\">\n    <visual>\n\
  \      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"\
  package://rcv/models/v2/highlander_stylized/knuckle.dae\" scale=\"1 1 1\"/>\n  \
  \    </geometry>\n    </visual>\n  </link>\n  <joint name=\"knuckle_LF_joint\" type=\"\
  revolute\">\n    <parent link=\"wheel_base_LF\"/>\n    <child link=\"knuckle_LF\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"0 0 1\"/>\n    <limit\
  \ effort=\"1000.0\" lower=\"-0.6109\" upper=\"0.6109\" velocity=\"10\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_LF\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_LF_joint\" type=\"continuous\">\n    <parent link=\"knuckle_LF\"/>\n    <child\
  \ link=\"wheel_LF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_RF\"/>\n\
  \  <joint name=\"wheel_base_RF_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"2.79  \
  \              -0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n \
  \ <link name=\"knuckle_RF\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0\
  \ 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_RF_joint\" type=\"revolute\">\n    <parent link=\"wheel_base_RF\"/>\n  \
  \  <child link=\"knuckle_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n   \
  \ <axis xyz=\"0 0 1\"/>\n    <limit effort=\"1000.0\" lower=\"-0.6109\" upper=\"\
  0.6109\" velocity=\"10\"/>\n  </joint>\n  <!-- Wheel -->\n  <link name=\"wheel_RF\"\
  >\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n\
  \        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_RF_joint\" type=\"continuous\">\n    <parent link=\"knuckle_RF\"/>\n    <child\
  \ link=\"wheel_RF\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_LR\"/>\n\
  \  <joint name=\"wheel_base_LR_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0.0   \
  \             0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n  <link\
  \ name=\"knuckle_LR\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"-1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_LR_joint\" type=\"fixed\">\n    <parent link=\"wheel_base_LR\"/>\n    <child\
  \ link=\"knuckle_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_LR\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"-1 1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_LR_joint\" type=\"continuous\">\n    <parent link=\"knuckle_LR\"/>\n    <child\
  \ link=\"wheel_LR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <!-- wheel_base -->\n  <link name=\"wheel_base_RR\"/>\n\
  \  <joint name=\"wheel_base_RR_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"wheel_base_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0.0   \
  \             -0.825                0.0\"/>\n  </joint>\n  <!-- Knuckle -->\n  <link\
  \ name=\"knuckle_RR\">\n    <visual>\n      <origin rpy=\"0 0 0\" xyz=\"0 0 0\"\
  />\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/knuckle.dae\"\
  \ scale=\"-1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  knuckle_RR_joint\" type=\"fixed\">\n    <parent link=\"wheel_base_RR\"/>\n    <child\
  \ link=\"knuckle_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- Wheel -->\n  <link name=\"wheel_RR\">\n    <visual>\n      <origin rpy=\"\
  0 0 0\" xyz=\"0 0 0\"/>\n      <geometry>\n        <mesh filename=\"package://rcv/models/v2/highlander_stylized/wheel.dae\"\
  \ scale=\"-1 -1 1\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint name=\"\
  wheel_RR_joint\" type=\"continuous\">\n    <parent link=\"knuckle_RR\"/>\n    <child\
  \ link=\"wheel_RR\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n    <axis xyz=\"\
  0 1 0\"/>\n  </joint>\n  <link name=\"base_link_ground\"/>\n  <joint name=\"base_link_ground_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"base_link_ground\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0       0       -0.3702\"/>\n  </joint>\n  <!--\
  \ virtual velodyne -->\n  <link name=\"virtual_velodyne\"/>\n  <joint name=\"virtual_velodyne_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"virtual_velodyne\"\
  />\n    <origin rpy=\"0.0                  0.0                  3.14\" xyz=\"1.5\
  \                  0.0                  1.52\"/>\n  </joint>\n  <link name=\"velodyne1\"\
  >\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n\
  \  <joint name=\"velodyne1_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne1\"/>\n    <origin rpy=\"-0.007649684 0.106998581\
  \ 2.38568367763\" xyz=\"-0.346036142992 0.643978624342 1.452000022\"/>\n  </joint>\n\
  \  <link name=\"velodyne2\">\n    <!-- Moved puck <visual> and <mesh> to /base_link\
  \ above TOOL-737 -->\n  </link>\n  <joint name=\"velodyne2_joint\" type=\"fixed\"\
  >\n    <parent link=\"base_link\"/>\n    <child link=\"velodyne2\"/>\n    <origin\
  \ rpy=\"0.018014271 0.123626604 -2.41629948937\" xyz=\"-0.341832472319 -0.612054191494\
  \ 1.442000031\"/>\n  </joint>\n  <link name=\"velodyne3\">\n    <!-- Moved puck\
  \ <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n  <joint name=\"\
  velodyne3_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child\
  \ link=\"velodyne3\"/>\n    <origin rpy=\"-0.037239936 0.202407153 2.45438546563\"\
  \ xyz=\"-0.947268285737 0.811754950389 0.506999969\"/>\n  </joint>\n  <link name=\"\
  velodyne4\">\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737\
  \ -->\n  </link>\n  <joint name=\"velodyne4_joint\" type=\"fixed\">\n    <parent\
  \ link=\"base_link\"/>\n    <child link=\"velodyne4\"/>\n    <origin rpy=\"-0.034508007\
  \ 0.205776257 -2.49182296637\" xyz=\"-0.984817841047 -0.824089161224 0.506999969\"\
  />\n  </joint>\n  <link name=\"velodyne5\">\n    <!-- Moved puck <visual> and <mesh>\
  \ to /base_link above TOOL-737 -->\n  </link>\n  <joint name=\"velodyne5_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"velodyne5\"\
  />\n    <origin rpy=\"0.01201413 0.093688918 0.581174616631\" xyz=\"1.75619528729\
  \ 0.689277697178 1.439999938\"/>\n  </joint>\n  <link name=\"velodyne6\">\n    <!--\
  \ Moved puck <visual> and <mesh> to /base_link above TOOL-737 -->\n  </link>\n \
  \ <joint name=\"velodyne6_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"velodyne6\"/>\n    <origin rpy=\"-0.00930181 0.11439464 -0.563995698369\"\
  \ xyz=\"1.75979903151 -0.696753730375 1.449999928\"/>\n  </joint>\n  <link name=\"\
  velodyne7\">\n    <!-- Moved puck <visual> and <mesh> to /base_link above TOOL-737\
  \ -->\n  </link>\n  <joint name=\"velodyne7_joint\" type=\"fixed\">\n    <parent\
  \ link=\"base_link\"/>\n    <child link=\"velodyne7\"/>\n    <origin rpy=\"-0.014045714\
  \ 0.224614865 0.952870369631\" xyz=\"3.32824929573 0.914025338675 0.435000002\"\
  />\n  </joint>\n  <link name=\"velodyne8\">\n    <!-- Moved puck <visual> and <mesh>\
  \ to /base_link above TOOL-737 -->\n  </link>\n  <joint name=\"velodyne8_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"velodyne8\"\
  />\n    <origin rpy=\"-0.05113938 0.206848526 -0.936097625369\" xyz=\"3.35971141656\
  \ -0.936139578491 0.444999993\"/>\n  </joint>\n  <link name=\"camera6\"/>\n  <joint\
  \ name=\"camera6_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n   \
  \ <child link=\"camera6\"/>\n    <origin rpy=\"0.00553483288146 0.0720940521928\
  \ -1.19594842238\" xyz=\"1.64088181901 -0.73243014556 1.33136015369\"/>\n  </joint>\n\
  \  <link name=\"camera5\"/>\n  <joint name=\"camera5_joint\" type=\"fixed\">\n \
  \   <parent link=\"base_link\"/>\n    <child link=\"camera5\"/>\n    <origin rpy=\"\
  0.0351681596732 0.0615530964378 -1.06729082244\" xyz=\"-0.198345258709 -0.639179051223\
  \ 1.33967662362\"/>\n  </joint>\n  <link name=\"camera3\"/>\n  <joint name=\"camera3_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera3\"\
  />\n    <origin rpy=\"-0.00135268395333 -0.0659493808926 0.0202420485458\" xyz=\"\
  1.86584220374 0.293684751258 1.29477389644\"/>\n  </joint>\n  <link name=\"camera4\"\
  />\n  <joint name=\"camera4_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"camera4\"/>\n    <origin rpy=\"0.00131944431796 -0.0576894039854\
  \ -0.000645855132527\" xyz=\"1.86358954158 -0.307704931299 1.2933172165\"/>\n  </joint>\n\
  \  <link name=\"camera1\"/>\n  <joint name=\"camera1_joint\" type=\"fixed\">\n \
  \   <parent link=\"base_link\"/>\n    <child link=\"camera1\"/>\n    <origin rpy=\"\
  0.00573719230314 0.0756118599743 -0.0061385877462\" xyz=\"1.81423981616 0.592080560853\
  \ 1.33049090143\"/>\n  </joint>\n  <link name=\"camera2\"/>\n  <joint name=\"camera2_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera2\"\
  />\n    <origin rpy=\"-0.0095251319017 0.0851283006577 -0.0311575559274\" xyz=\"\
  1.80964905851 -0.605732611442 1.32506400147\"/>\n  </joint>\n  <link name=\"camera7\"\
  />\n  <joint name=\"camera7_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"camera7\"/>\n    <origin rpy=\"0.0183052476478 0.106714133397\
  \ -2.52599944216\" xyz=\"-0.411724548697 -0.484471989539 1.34495264372\"/>\n  </joint>\n\
  \  <link name=\"camera8\"/>\n  <joint name=\"camera8_joint\" type=\"fixed\">\n \
  \   <parent link=\"base_link\"/>\n    <child link=\"camera8\"/>\n    <origin rpy=\"\
  0.0552200730702 0.0975881802706 -2.56305460492\" xyz=\"-0.495533442168 0.136716985796\
  \ 1.39592975424\"/>\n  </joint>\n  <link name=\"camera11\"/>\n  <joint name=\"camera11_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera11\"\
  />\n    <origin rpy=\"-0.0600281083966 0.0757234996999 2.56448676074\" xyz=\"-0.496633850235\
  \ -0.113894143563 1.3763368168\"/>\n  </joint>\n  <link name=\"camera12\"/>\n  <joint\
  \ name=\"camera12_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n  \
  \  <child link=\"camera12\"/>\n    <origin rpy=\"-0.0184166741439 0.0770650131851\
  \ 2.48167113674\" xyz=\"-0.408564338999 0.522728960456 1.33511335354\"/>\n  </joint>\n\
  \  <link name=\"camera9\"/>\n  <joint name=\"camera9_joint\" type=\"fixed\">\n \
  \   <parent link=\"base_link\"/>\n    <child link=\"camera9\"/>\n    <origin rpy=\"\
  -0.0248069332509 0.0749470340671 1.07056297548\" xyz=\"-0.205985692725 0.674787255642\
  \ 1.33803696073\"/>\n  </joint>\n  <link name=\"camera10\"/>\n  <joint name=\"camera10_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"camera10\"\
  />\n    <origin rpy=\"-0.0101393828949 0.0760574808783 1.19401412329\" xyz=\"1.63933081253\
  \ 0.727929925289 1.31072843812\"/>\n  </joint>\n  <!-- Horn 2.0 -->\n  <link name=\"\
  front_horn\"/>\n  <joint name=\"front_horn_joint\" type=\"fixed\">\n    <parent\
  \ link=\"base_link\"/>\n    <child link=\"front_horn\"/>\n    <origin rpy=\"0 0\
  \ -1.57\" xyz=\"1.5 0 1\"/>\n  </joint>\n  <link name=\"radar_front\"/>\n  <joint\
  \ name=\"radar_front_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n\
  \    <child link=\"radar_front\"/>\n    <origin rpy=\"0 -0 0.0196009\" xyz=\"3.66\
  \ -0.04 0\"/>\n  </joint>\n  <link name=\"radar_left\"/>\n  <joint name=\"radar_left_joint\"\
  \ type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"radar_left\"\
  />\n    <origin rpy=\"0 -0 0.926308\" xyz=\"3.35 0.96 0\"/>\n  </joint>\n  <link\
  \ name=\"radar_rear\"/>\n  <joint name=\"radar_rear_joint\" type=\"fixed\">\n  \
  \  <parent link=\"base_link\"/>\n    <child link=\"radar_rear\"/>\n    <origin rpy=\"\
  0 -0 -3.13909\" xyz=\"-1.15 0 0\"/>\n  </joint>\n  <link name=\"radar_rear_left\"\
  />\n  <joint name=\"radar_rear_left_joint\" type=\"fixed\">\n    <parent link=\"\
  base_link\"/>\n    <child link=\"radar_rear_left\"/>\n    <origin rpy=\"0 -0 2.43567\"\
  \ xyz=\"-0.93 0.96 0\"/>\n  </joint>\n  <link name=\"radar_rear_right\"/>\n  <joint\
  \ name=\"radar_rear_right_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"radar_rear_right\"/>\n    <origin rpy=\"0 -0 -2.45577\" xyz=\"\
  -0.93 -0.96 0\"/>\n  </joint>\n  <link name=\"radar_right\"/>\n  <joint name=\"\
  radar_right_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n    <child\
  \ link=\"radar_right\"/>\n    <origin rpy=\"0 0 -0.937898\" xyz=\"3.35 -0.96 0\"\
  />\n  </joint>\n</robot>\n\n"
robot_name: kitt_01
ros_dds_bridge_dialog_data: {plugin_config: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/teleop/telemetry/ros_dds_bridge/config/plugins_dialog_data.pbtxt}
ros_dds_bridge_vhx: {plugin_config: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/teleop/telemetry/ros_dds_bridge/config/plugins_ros_vhx.pbtxt}
ros_dds_bridge_video_record: {plugin_config: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/teleop/telemetry/ros_dds_bridge/config/plugins_ros_video_record.pbtxt}
rosdistro: '<unknown>

  '
rosversion: '1.0.0

  '
system_monitor: {diagnostic_hostname: mainai}
system_monitor_brix1: {diagnostic_hostname: vision1}
system_monitor_brix2: {diagnostic_hostname: vision2}
system_monitor_brix3: {diagnostic_hostname: vision3}
system_monitor_brix4: {diagnostic_hostname: vision4}
system_monitor_brix5: {diagnostic_hostname: vision5}
system_monitor_brix6: {diagnostic_hostname: vision6}
teleop:
  cameras:
    rideops_front: {enabled: false, stream1_uri: 'rtsp://admin:admin@rideop_front:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@rideop_front:8554/CH002.sdp'}
    rideops_rear: {enabled: false, stream1_uri: 'rtsp://admin:admin@rideop_rear:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@rideop_rear:8554/CH002.sdp'}
    teleop_east: {enabled: true, stream1_uri: 'rtsp://admin:admin@teleop_east:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@teleop_east:8554/CH002.sdp'}
    teleop_north: {enabled: true, stream1_uri: 'rtsp://admin:admin@teleop_north:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@teleop_north:8554/CH002.sdp'}
    teleop_south: {enabled: true, stream1_uri: 'rtsp://admin:admin@teleop_south:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@teleop_south:8554/CH002.sdp'}
    teleop_west: {enabled: true, stream1_uri: 'rtsp://admin:admin@teleop_west:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@teleop_west:8554/CH002.sdp'}
  resources:
    servers:
      aws_dev_1: {ip_address: 10.2.17.30, stun_port: 3478}
      aws_dev_1_public: {ip_address: 52.9.109.54, stun_port: 3478}
      aws_prod_1: {ip_address: 10.2.16.30, stun_port: 3478}
      aws_prod_1_public: {ip_address: 52.52.28.33, stun_port: 3478}
      broadway_prod_1: {ip_address: 172.16.156.22, stun_port: 3478}
  wan: {enabled: true, server_name: aws_prod_1}
teleop_diagnostic_aggregator:
  analyzers:
    teleop:
      num_items: 28
      path: Teleop
      startswith: [ros_dds_bridge, ziod_router, teleop_perception_bridge, critical_coprocessor,
        teleop_coprocessor, entity_confidence, confidence_analyzer]
      type: diagnostic_aggregator/GenericAnalyzer
teleop_east:
  video_stream_to_ziod: {bitrate: 3072, camera_fh: /dev/video0, camera_location: teleop_east,
    compression_format: h264_gv, frames_per_second: 30, gstream_rtsp_latency: 0, gstream_src_name: rtspsrc,
    h264_codec: 014d401fffe10018674d401feca02802dd8088000003000bb9aca00078c18cb001000468ebecb2,
    height: 720, key_int_max: 1, live_view: false, publisher_config_file: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_east, rtsp_uri_stream1: 'rtsp://admin:admin@teleop_east:8554/CH001.sdp',
    rtsp_uri_stream2: 'rtsp://admin:admin@teleop_east:8554/CH002.sdp', speed_preset: 2,
    tune: 4, verbose: true, width: 1280}
teleop_north:
  video_stream_to_ziod: {bitrate: 3072, camera_fh: /dev/video0, camera_location: teleop_north,
    compression_format: h264_gv, frames_per_second: 30, gstream_rtsp_latency: 0, gstream_src_name: rtspsrc,
    h264_codec: 014d401fffe10018674d401feca02802dd8088000003000bb9aca00078c18cb001000468ebecb2,
    height: 720, key_int_max: 1, live_view: false, publisher_config_file: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_north, rtsp_uri_stream1: 'rtsp://admin:admin@teleop_north:8554/CH001.sdp',
    rtsp_uri_stream2: 'rtsp://admin:admin@teleop_north:8554/CH002.sdp', speed_preset: 2,
    tune: 4, verbose: true, width: 1280}
teleop_south:
  video_stream_to_ziod: {bitrate: 3072, camera_fh: /dev/video0, camera_location: teleop_south,
    compression_format: h264_gv, frames_per_second: 30, gstream_rtsp_latency: 0, gstream_src_name: rtspsrc,
    h264_codec: 014d401fffe10018674d401feca02802dd8088000003000bb9aca00078c18cb001000468ebecb2,
    height: 720, key_int_max: 1, live_view: false, publisher_config_file: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_south, rtsp_uri_stream1: 'rtsp://admin:admin@teleop_south:8554/CH001.sdp',
    rtsp_uri_stream2: 'rtsp://admin:admin@teleop_south:8554/CH002.sdp', speed_preset: 2,
    tune: 4, verbose: true, width: 1280}
teleop_west:
  video_stream_to_ziod: {bitrate: 3072, camera_fh: /dev/video0, camera_location: teleop_west,
    compression_format: h264_gv, frames_per_second: 30, gstream_rtsp_latency: 0, gstream_src_name: rtspsrc,
    h264_codec: 014d401fffe10018674d401feca02802dd8088000003000bb9aca00078c18cb001000468ebecb2,
    height: 720, key_int_max: 1, live_view: false, publisher_config_file: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_west, rtsp_uri_stream1: 'rtsp://admin:admin@teleop_west:8554/CH001.sdp',
    rtsp_uri_stream2: 'rtsp://admin:admin@teleop_west:8554/CH002.sdp', speed_preset: 2,
    tune: 4, verbose: true, width: 1280}
traffic_lights_diagnostic_aggregator:
  analyzers:
    vision: {path: Traffic_Lights, startswith: traffic_lights, type: diagnostic_aggregator/GenericAnalyzer}
vehicle:
  tools: {sanity_check_log: /tmp/tmpOOHhhd}
vision: {vehicle_config: "# Default vision configuration.\ndefault_config {\n  detector:\
    \ \"MULTICLASS_DETECTOR_V15_TRT\"\n  tracker: \"TRACKER_PROD\"\n  attribute_filter:\
    \ \"s3cache://zoox-testdata/vision/models/orientation/v2_trt/orientation_with_fiducials_attribute_filter_v20c_trt3p0.pbtxt%hash=4f4f2556e492c0c9e605e9e7047774d8ba5e2ca9a2c51490d4089f43b30b3b35\"\
    \n  attribute_filter: \"MONOCULAR_HEIGHT_V18_TRT\"\n  conductor_options {\n    image_buffer_size: 10\n    detection_buffer_size:\
    \ 1\n    tracking_buffer_size: 5\n    stereo_buffer_size: 2\n  \n    # Largest\
    \ timestamp difference between left and right images for stereo, in\n    # seconds.\
    \ If a pair of images with timestamps within this delta cannot be\n    # found,\
    \ stereo is not run.\n    max_timestamp_delta: 0.005\n    max_images_to_track_per_cycle:\
    \ 2\n  \n    stereo_run_schedule: USE_LATEST\n  \n    # Print to LOG(INFO) with\
    \ at least this interval.\n    log_every_n_seconds: 1.0\n  }\n}\n\n# Configurations\
    \ for specific vehicle groups that share the same camera layout.\nvehicle_group\
    \ {\n  camera_layout_name: [\"storm\", \"newt\", \"tiger\", \"unknown\"]\n  camera_group\
    \ {\n    name: [\"north_wide_left\", \"north_wide_right\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"north_wide_left\" }\n  }\n  camera_group\
    \ {\n    name: [\"north_narrow_left\", \"north_narrow_right\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"north_narrow_left\" }\n  }\n  camera_group\
    \ {\n    name: [\"west_wide_left\", \"west_wide_right\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"west_wide_right\" }\n  }\n  camera_group\
    \ {\n    name: [\"east_wide_left\", \"east_wide_right\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"east_wide_left\" }\n  }\n  camera_group {\n\
    \    name: [\"south_wide_left\", \"south_wide_right\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"south_wide_left\" }\n  }\n  camera_group\
    \ {\n    name: [\"south_narrow_left\", \"south_narrow_right\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"south_narrow_left\" }\n  }\n}\n\nvehicle_group\
    \ {\n  camera_layout_name: [\"sauron\"]\n  camera_group {\n    name: [\"north_wide_left\"\
    , \"north_wide_right\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"north_wide_left\" }\n  }\n  camera_group {\n    name: [\"north_narrow_left\"\
    , \"north_narrow_right\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"north_narrow_left\" }\n  }\n  camera_group {\n    name: [\"west_wide_left\"\
    , \"west_wide_right\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"west_wide_right\" }\n  }\n  camera_group {\n    name: [\"east_wide_left\"\
    , \"east_wide_right\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"east_wide_left\" }\n  }\n  camera_group {\n    name: [\"southwest_wide_left\"\
    , \"southwest_wide_right\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"southwest_wide_left\" }\n  }\n  camera_group {\n    name: [\"southeast_wide_left\"\
    , \"southeast_wide_right\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"southeast_wide_right\" }\n  }\n}\n\nvehicle_group {\n  camera_layout_name:\
    \ [\"voldemort\"]\n  camera_group {\n    name: [\"north_wide_left\", \"north_wide_right\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"north_wide_left\"\
    \ }\n  }\n  camera_group {\n    name: [\"north_narrow_left\", \"north_narrow_right\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"north_narrow_left\"\
    \ }\n  }\n  camera_group {\n    name: [\"west_wide_left\", \"west_wide_right\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"west_wide_right\"\
    \ dir: DIRECTION_FWD }\n    primary_camera { name: \"west_wide_left\" dir: DIRECTION_BWD\
    \ }\n  }\n  camera_group {\n    name: [\"east_wide_left\", \"east_wide_right\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"east_wide_left\"\
    \ dir: DIRECTION_FWD }\n    primary_camera { name: \"east_wide_right\" dir: DIRECTION_BWD\
    \ }\n  }\n  camera_group {\n    name: [\"south_wide_left\", \"south_wide_right\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"south_wide_left\"\
    \ }\n  }\n  camera_group {\n    name: [\"south_narrow_left\", \"south_narrow_right\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"south_narrow_left\"\
    \ }\n  }\n}\n\n# Options for publishing the image with overlaid vision results.\n\
    display_options {\n  width: 320\n  rate: 1\n  type: DISPLAY_RESULT_DETECTION\n\
    }\n", vehicle_config_fn: /home/zoox/driving/bazel-bin/bin/zcore.runfiles/zoox/vision/common/config/vehicle_config.pbtxt}
vision_diagnostic_aggregator:
  analyzers:
    vision:
      expected: ['vision1/cameras_vision1: VisionDiagnostic', 'vision2/cameras_vision2:
          VisionDiagnostic', 'vision3/cameras_vision3: VisionDiagnostic', 'vision4/cameras_vision4:
          VisionDiagnostic', 'vision5/cameras_vision5: VisionDiagnostic', 'vision6/cameras_vision6:
          VisionDiagnostic']
      path: Vision
      remove_prefix: [vision1, vision2, vision3, vision4, vision5, vision6]
      type: diagnostic_aggregator/GenericAnalyzer
