base_diagnostic_aggregator:
  analyzers:
    base:
      analyzers:
        chrony: {expected: 'chrony_monitor: Chrony Diagnostic Monitor', path: Chrony,
          startswith: chrony_monitor, type: diagnostic_aggregator/GenericAnalyzer}
        graphics:
          analyzers:
            mainai: {contains: mainai GPU, path: MainAI, type: diagnostic_aggregator/GenericAnalyzer}
            vision1: {contains: vision1 GPU, path: Vision1, type: diagnostic_aggregator/GenericAnalyzer}
            vision2: {contains: vision2 GPU, path: Vision2, type: diagnostic_aggregator/GenericAnalyzer}
            vision3: {contains: vision3 GPU, path: Vision3, type: diagnostic_aggregator/GenericAnalyzer}
            vision4: {contains: vision4 GPU, path: Vision4, type: diagnostic_aggregator/GenericAnalyzer}
            vision5: {contains: vision5 GPU, path: Vision5, type: diagnostic_aggregator/GenericAnalyzer}
            vision6: {contains: vision6 GPU, path: Vision6, type: diagnostic_aggregator/GenericAnalyzer}
            vision7: {contains: vision7 GPU, path: Vision7, type: diagnostic_aggregator/GenericAnalyzer}
          path: GPU
          type: diagnostic_aggregator/AnalyzerGroup
        harddrives:
          analyzers:
            mainai: {contains: mainai HD, path: MainAI, remove_prefix: mainai, type: diagnostic_aggregator/GenericAnalyzer}
            vision1: {contains: vision1 HD, path: Vision1, remove_prefix: vision1,
              type: diagnostic_aggregator/GenericAnalyzer}
            vision2: {contains: vision2 HD, path: Vision2, remove_prefix: vision2,
              type: diagnostic_aggregator/GenericAnalyzer}
            vision3: {contains: vision3 HD, path: Vision3, remove_prefix: vision3,
              type: diagnostic_aggregator/GenericAnalyzer}
            vision4: {contains: vision4 HD, path: Vision4, remove_prefix: vision4,
              type: diagnostic_aggregator/GenericAnalyzer}
            vision5: {contains: vision5 HD, path: Vision5, remove_prefix: vision5,
              type: diagnostic_aggregator/GenericAnalyzer}
            vision6: {contains: vision6 HD, path: Vision6, remove_prefix: vision6,
              type: diagnostic_aggregator/GenericAnalyzer}
            vision7: {contains: vision7 HD, path: Vision7, remove_prefix: vision7,
              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:
            mainai: {find_and_remove_prefix: 'system_monitor_mainai:', num_items: 3,
              path: MainAI, type: diagnostic_aggregator/GenericAnalyzer}
            vision1:
              find_and_remove_prefix: ['system_monitor_vision1:', 'usb_monitor_vision1:']
              num_items: 4
              path: Vision1
              type: diagnostic_aggregator/GenericAnalyzer
            vision2:
              find_and_remove_prefix: ['system_monitor_vision2:', 'usb_monitor_vision2:']
              num_items: 4
              path: Vision2
              type: diagnostic_aggregator/GenericAnalyzer
            vision3:
              find_and_remove_prefix: ['system_monitor_vision3:', 'usb_monitor_vision3:']
              num_items: 4
              path: Vision3
              type: diagnostic_aggregator/GenericAnalyzer
            vision4:
              find_and_remove_prefix: ['system_monitor_vision4:', 'usb_monitor_vision4:']
              num_items: 4
              path: Vision4
              type: diagnostic_aggregator/GenericAnalyzer
            vision5:
              find_and_remove_prefix: ['system_monitor_vision5:', 'usb_monitor_vision5:']
              num_items: 4
              path: Vision5
              type: diagnostic_aggregator/GenericAnalyzer
            vision6:
              find_and_remove_prefix: ['system_monitor_vision6:', 'usb_monitor_vision6:']
              num_items: 4
              path: Vision6
              type: diagnostic_aggregator/GenericAnalyzer
            vision7:
              find_and_remove_prefix: ['system_monitor_vision7:', 'usb_monitor_vision7:']
              num_items: 4
              path: Vision7
              type: diagnostic_aggregator/GenericAnalyzer
          path: System
          type: diagnostic_aggregator/AnalyzerGroup
        temperature:
          analyzers:
            mainai:
              find_and_remove_prefix: ['sensors_monitor: ']
              path: MainAI
              type: diagnostic_aggregator/GenericAnalyzer
            vision1:
              find_and_remove_prefix: ['sensors_monitor_vision1: ']
              path: Vision1
              type: diagnostic_aggregator/GenericAnalyzer
            vision2:
              find_and_remove_prefix: ['sensors_monitor_vision2: ']
              path: Vision2
              type: diagnostic_aggregator/GenericAnalyzer
            vision3:
              find_and_remove_prefix: ['sensors_monitor_vision3: ']
              path: Vision3
              type: diagnostic_aggregator/GenericAnalyzer
            vision4:
              find_and_remove_prefix: ['sensors_monitor_vision4: ']
              path: Vision4
              type: diagnostic_aggregator/GenericAnalyzer
            vision5:
              find_and_remove_prefix: ['sensors_monitor_vision5: ']
              path: Vision5
              type: diagnostic_aggregator/GenericAnalyzer
            vision6:
              find_and_remove_prefix: ['sensors_monitor_vision6: ']
              path: Vision6
              type: diagnostic_aggregator/GenericAnalyzer
            vision7:
              find_and_remove_prefix: ['sensors_monitor_vision7: ']
              path: Vision7
              type: diagnostic_aggregator/GenericAnalyzer
          path: Temperatures
          type: diagnostic_aggregator/AnalyzerGroup
        timesync: {num_items: 14, 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]
    enabled: true
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    user: zoox
  brix2:
    address: brix2
    cameras: [north_wide_left, north_wide_right]
    enabled: true
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    user: zoox
  brix3:
    address: brix3
    cameras: [west_wide_left, west_wide_right]
    enabled: true
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    user: zoox
  brix4:
    address: brix4
    cameras: [east_wide_left, east_wide_right]
    enabled: true
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    user: zoox
  brix5:
    address: brix5
    cameras: [southwest_wide_left, southwest_wide_right]
    enabled: true
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    user: zoox
  brix6:
    address: brix6
    cameras: [southeast_wide_left, southeast_wide_right]
    enabled: true
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    user: zoox
  brix7:
    address: brix7
    cameras: [traffic_wide_left, traffic_narrow_right]
    enabled: true
    hal: {driver: flycap, format: RAW8, group_cameras: false, sync: 'on'}
    savepath: /data
    user: zoox
  vision1: {ssh_detected: true}
  vision2: {ssh_detected: true}
  vision3: {ssh_detected: true}
  vision4: {ssh_detected: true}
  vision5: {ssh_detected: true}
  vision6: {ssh_detected: true}
  vision7: {ssh_detected: true}
brix_config_version: 1
calibration_date: '2018-02-01'
camera_calibration_date: '2018-01-15'
camera_config: /opt/zoox/ai/zoox/packages/zoox/rcv/param/vehicle_specific/kitt_06/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', 'vision7/cameras_vision7: traffic_wide_left', 'vision7/cameras_vision7:
          traffic_narrow_right', 'vision7/cameras_vision7: vision7']
      path: Cameras
      remove_prefix: [vision1/cameras_vision1, vision2/cameras_vision2, vision3/cameras_vision3,
        vision4/cameras_vision4, vision5/cameras_vision5, vision6/cameras_vision6,
        vision7/cameras_vision7]
      type: diagnostic_aggregator/GenericAnalyzer
camera_extrinsics: /tmp/tmpx4izXl/cameras_extrinsics.xml
camera_intrinsics: /tmp/tmpx4izXl/cameras_intrinsics.yaml
camera_layout_name: dark_sauron
camera_rqt_perspective_file: vehicle/online_viz/rqt/camera_dark_sauron.perspective
camera_yaml: /tmp/tmpahduhj/cameras_intrinsics.yaml
cameras:
  camera1:
    imagesize: [1920, 1200]
    intrinsics: [1136.6312830187267, 1136.927056096951, 965.8195503876835, 607.2017254611983,
      -0.19199168956916968, 0.05958629050949979]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: north_wide_left
    serial: 15384267
    type: Point Grey Blackfly
  camera10:
    imagesize: [1920, 1200]
    intrinsics: [1136.526060341417, 1137.108943880198, 961.577179336273, 611.1255678774003,
      -0.18950512809111386, 0.05784608904584584]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: west_wide_right
    serial: 16062203
    type: Point Grey Blackfly
  camera11:
    imagesize: [1920, 1200]
    intrinsics: [1135.844267757686, 1137.37368481424, 972.0390497857762, 612.8117415928509,
      -0.19038902543302152, 0.05874957624278688]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: southwest_wide_left
    serial: 16062218
    type: Point Grey Blackfly
  camera12:
    imagesize: [1920, 1200]
    intrinsics: [1132.3379434978956, 1132.4831362889372, 955.0845483338525, 626.1508185046287,
      -0.18833564982373352, 0.05650596749421453]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: southwest_wide_right
    serial: 15187905
    type: Point Grey Blackfly
  camera13:
    imagesize: [1920, 1200]
    intrinsics: [1140.9651700860322, 1141.5067314458781, 938.8806918907508, 596.884822509948,
      -0.19176422810067564, 0.06050774344231737]
    lens: Azure 6.5 mm
    max_gain: '2147483648'
    max_shutter: '2147487826'
    model: Poly2
    name: traffic_wide_left
    serial: 15297949
    type: Point Grey Blackfly
  camera14:
    imagesize: [1920, 1200]
    intrinsics: [3166.489802398425, 3166.65129365754, 976.4427388386857, 603.9587301336062,
      -0.09807106748813897, 0.2853868713153296]
    lens: Azure 6.5 mm
    max_gain: '2147483648'
    max_shutter: '2147487826'
    model: Poly2
    name: traffic_narrow_right
    serial: 15384258
    type: Point Grey Blackfly
  camera2:
    imagesize: [1920, 1200]
    intrinsics: [1138.0668431562099, 1138.0275762107278, 967.0297322117593, 580.7643832550101,
      -0.19153470366878936, 0.05922633949383652]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: north_wide_right
    serial: 15187947
    type: Point Grey Blackfly
  camera3:
    imagesize: [1920, 1200]
    intrinsics: [3169.1880476768774, 3168.322910655647, 945.7620039807157, 608.9650135259491,
      -0.10585930508969472, 0.25401654333640067]
    lens: Edmonds 18 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: north_narrow_left
    serial: 16363728
    type: Point Grey Blackfly
  camera4:
    imagesize: [1920, 1200]
    intrinsics: [3173.6865033390714, 3173.107703411967, 978.5922988188661, 596.3419385271228,
      -0.09949707282279391, 0.23197193802933097]
    lens: Edmonds 18 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: north_narrow_right
    serial: 16363751
    type: Point Grey Blackfly
  camera5:
    imagesize: [1920, 1200]
    intrinsics: [1128.8056907096645, 1129.9173486744987, 960.6142540315328, 607.4571481545088,
      -0.19012916849880473, 0.05830001850229027]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: east_wide_right
    serial: 16363757
    type: Point Grey Blackfly
  camera6:
    imagesize: [1920, 1200]
    intrinsics: [1137.8820799896841, 1139.8498024321527, 945.7123360367785, 606.6426893356842,
      -0.1881992701540729, 0.057211347993541085]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: east_wide_left
    serial: 16320809
    type: Point Grey Blackfly
  camera7:
    imagesize: [1920, 1200]
    intrinsics: [1139.9351055163256, 1140.8487454452704, 962.2859157324658, 598.3980707411453,
      -0.1915283306482146, 0.06002100888936747]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: southeast_wide_left
    serial: 17175258
    type: Point Grey Blackfly
  camera8:
    imagesize: [1920, 1200]
    intrinsics: [1134.894976327434, 1134.7578677981978, 952.734519615264, 605.8841756645448,
      -0.18832443759930745, 0.05769746762435622]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: southeast_wide_right
    serial: 17473460
    type: Point Grey Blackfly
  camera9:
    imagesize: [1920, 1200]
    intrinsics: [1134.8361036724823, 1135.5533727822788, 983.45115397546, 610.029587630784,
      -0.1891612356009395, 0.05751513884988049]
    lens: Azure 6.5 mm
    max_gain: '2147483948'
    max_shutter: '2147488785'
    model: Poly2
    name: west_wide_left
    serial: 16062194
    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_2x7, Calibration: launch/calibration_oneshot_kitt_dark_sauron,
      Camera: launch/camera_dark_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_conti, Teleop: launch/teleop_default, ToF: launch/tof_x6,
      Vision: launch/vision_dark_sauron}
  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/base_compute_2x6,
    launch/base_compute_2x7, launch/camera_dark_sauron, launch/camera_sauron, launch/dispatch,
    launch/drivers_compute_1_5, launch/lidar_velodyne, launch/localizer_6dof, launch/localizer_6dof_sdl,
    launch/localizer_fake, launch/nogo, launch/perception_default, launch/perception_sdl,
    launch/planner_default, launch/pose_applanix_v2, launch/pose_mofo, launch/radar_bosch_conti,
    launch/radar_bosch_full, launch/teleop_default, launch/vision_dark_sauron, 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/2018-03-14, map3d: /home/zoox/imageries/2018-03-14/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
    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
    heuristic_params: {min_tracker_observations_before_dynamic: 2}
    lidar_frame_classifier_params: "max_inputs: 2000\nuse_threaded: true\n[zoox.perception.SubhanetFrameClassifierProto.ext]\
      \ {\n  caffe_model_file: \"s3cache://zoox-3dp/models/niteshnet_v1/pointnet-segmentpool.pbtxt\"\
      \n  caffe_weights_file: \"s3cache://zoox-3dp/models/niteshnet_v1/pointnet.pbtxt.caffemodel\"\
      \n  classes_file: \"vehicle/perception/classification/data/params.classes\"\n\
      \  scores_layer_name: \"fc3\"\n  gpu_id: 0\n  max_cloud_points: 100000\n  max_num_points:\
      \ 100000\n  min_num_points_for_blob_classification: 20\n  max_num_blobs_in_batch:\
      \ 5000\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: 4.0   #car\n  score_bias:\
      \ -2.5  #bike\n  score_bias: 1.0   #ped\n  score_bias: 3.0   #clutter\n  meta_network_caffe_model_file:\
      \ \"s3cache://zoox-3dp/models/metanet_v2/meta.pbtxt\"\n  meta_network_caffe_weights_file:\
      \ \"s3cache://zoox-3dp/models/metanet_v2/v2.caffemodel\"\n  meta_network_classification_threshold:\
      \ -0.65     #car\n  meta_network_classification_threshold: -0.521     #ped_bike_combined\n\
      \  meta_network_classification_threshold: -0.521     #not used\n  meta_network_classification_threshold:\
      \ -1000.0   #clutter\n  meta_network_score_blob_name: \"h1fc4\"\n  meta_network_score_h2_blob_name:\
      \ \"h2fc4\"\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

      '
    pcp_without_zrn: false
    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

      use_bosch_mrr : true

      use_conti_ars_430 : true

      default_radar_latency : 0.035

      allow_conti_into_pcp : false

      max_delay_allowed : 0.2

      radar_radial_pos_std_dev: 1.0

      radar_angle_std_dev: 0.04

      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: -8.0

      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"]


      # Not all vehicles have night cameras. This is the list of all camera configs

      # that contain night cameras. We check the config when starting up perception

      # to determine if said vehicle should run night diagnostics.

      night_vision_diagnostics: ["dark_sauron"]


      # Timestamp thresholds for staleness for each sensor (seconds)

      vision_stale_threshold: 0.5

      lidar_stale_threshold: 0.5

      radar_stale_threshold: 0.187

      '
    spin_loader: {downsample_one_in: 6, filter_inner_beams: true, filter_inner_beams_longitudinal_margin_deg: 35,
      filter_inner_beams_side_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: 202.5}
    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:\
        \ 500\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  obs_far_range_threshold: 50.\n  time_to_prune_radar_tracks_from_same_det:\
        \ 0.3\n  track_merger_params {\n    far_track_distance: 50.0\n  }\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.\n\
        blob_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:\
        \ -0.5\n      }\n    }\n    priority_to_score {\n      key: 6\n      value:\
        \ {\n          score_type: kFreespaceLidarAssociation\n          min_valid_score:\
        \ 0.0\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    min_mono_depth: 40.0\n  }\n  [zoox.perception.RadarDataAssociationParams.ext]\
        \ {\n    search_distance: 20.0\n  }\n  # Number of neighbor grid cells along\
        \ each direction\n  # to be considered for track association.\n  # The physical\
        \ searching area is +/-\n  # n_considered_neighbor_for_association*track_db_grid_resolution\n\
        \  # along each direction.\n  n_considered_neighbor_for_association: 5\n}\n\
        radar_data_association_params {\n  score_params {\n    priority_to_score {\n\
        \      key: 0\n      value: {\n          score_type: kAssociatedInFastUpdate\n\
        \          min_valid_score: -inf\n      }\n    }\n    priority_to_score {\n\
        \      key: 1\n      value: {\n          score_type: kRadarModalityScore\n\
        \          min_valid_score: -inf\n      }\n    }\n    priority_to_score {\n\
        \      key: 2\n      value: {\n          score_type: kRadarAssociation\n \
        \         min_valid_score: -1.0\n      }\n    }\n  }\n  # Number of neighbor\
        \ grid cells along each direction\n  # to be considered for track association.\n\
        \  # The physical searching area is +/-\n  # n_considered_neighbor_for_association*track_db_grid_resolution\n\
        \  # along each direction.\n  n_considered_neighbor_for_association: 5\n}\n\
        vision_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:\
        \ -1.0\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  # Number of neighbor grid cells along each\
        \ direction\n  # to be considered for track association.\n  # The physical\
        \ searching area is +/-\n  # n_considered_neighbor_for_association*track_db_grid_resolution\n\
        \  # along each direction.\n  n_considered_neighbor_for_association: 5\n}\n\
        track_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  # The number of Conti Doppler intervals need\
        \ to be considered\n  # when initializing tracks\n  conti_doppler_interval_to_consider:\
        \ 1\n  # The maximum ground range-rate we would consider for initializing\n\
        \  # Radar only tracks\n  max_ground_range_rate: 45.0\n}\noutlier_rejection_params\
        \ {\n  volume_intersection_threshold: 0.5\n  area_intersection_threshold:\
        \ 0.7\n  small_blob_ratio_thresh: 3.0\n  clutter_reclassify_min_zheight_to_classify_as_big_car:\
        \ 2.0\n}\ntrackers {\n  [zoox.perception.ComplementaryFilterParams.ext] {\n\
        \    initial_variance_position: 0.25\n    initial_variance_extent: 30.0\n\
        \    initial_variance_yaw: 3.141\n    initial_variance_velocity: 50.0\n  \
        \  # Approximately std = PI / s\n    initial_variance_yaw_rate: 2.5\n    initial_variance_acceleration:\
        \ 9.0\n    motion_variance_extent: 30.0\n    # Approximately std 90 degrees\
        \ / s2\n    motion_variance_yaw_rate: 2.5\n    motion_variance_acc_low_vel:\
        \ 5.0\n    motion_variance_acc_lat: 2.5\n    motion_variance_acc_long: 50.0\n\
        \    vel_threshold_motion_variance: 2.0\n    measurement_variance_position:\
        \ 0.25\n    measurement_variance_extent: 2.0\n    measurement_variance_yaw:\
        \ 0.2\n    radar_range_rate_cov: 1.0 #[m2/s2]\n    acc_dampening_vel_norm_multi:\
        \ 0.5\n    radar_cluster_extent_cov: 4.0\n    radar_cluster_yaw_var: 0.8\n\
        \    vision_velocity_variance: 0.1\n    pose_from_vision_orientation_timestamp_threshold:\
        \ 1.0\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: -0.5\n        }\n        weights {\n        key: \"radar_to_state_position_difference\"\
        \n          value: -0.5\n        }\n        weights {\n          key: \"radar_projection_penalty\"\
        \n          value: -100\n        }\n        weights {\n          key: \"radar_to_radar_velocity_diff\"\
        \n          value: -0.15\n        }\n        bias: 0\n        # Not used anymore\n\
        \        threshold: -1.0\n      }\n      radar_to_state_range_rate_threshold:\
        \ 3.0 #[m/s]\n      radar_to_state_position_difference_threshold: 4.0 #[no\
        \ unit]\n      radar_to_radar_velocity_threshold: 1.5 #[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 #[no unit]\n      v_based_threshold_lookup_y1: 1.0 #[no unit]\n    \
        \  r_based_threshold_lookup_r0: 20.0 #[m]\n      r_based_threshold_lookup_r1:\
        \ 35.0 #[m]\n      r_based_threshold_lookup_y0: 1.0 #[no unit]\n      r_based_threshold_lookup_y1:\
        \ 1.0 #[no unit]\n    }\n    radar_track_manager_param {\n      timestamp_step_size\
        \ : 0.1\n      conf_drop_per_sec : -2.0\n      time_window_max_rcs : 3.0\n\
        \      time_window_velocity_filter : 0.5\n      min_gnd_vel_to_add_vehicle_label\
        \ : 2.5\n      min_rcs_to_add_vehicle_label : 7.0\n      min_conf_to_add_label\
        \ : 0.8\n      min_rcs_to_remove_vehicle_label : -3.0\n      confidence_bonus_range_bins\
        \ : 3\n      confidence_bonus_range_bins : 50\n      confidence_bonus_bins\
        \ : 0.05\n      confidence_bonus_bins : 0.2\n      prune_new_radar_track_if_not_observed_for:\
        \ 0.1\n      new_radar_track_time_span: 0.3\n    }\n    filter_obb_params\
        \ {\n      vision_overwrites_class: true\n      high_variance: 1000\n    \
        \  high_variance_yaw_rate: 3.0\n      num_vision_obs_to_smooth: 5\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      }\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: 0.4\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      default_lateral_velocity_std_dev: 5.0\n      default_vertical_velocity_std_dev:\
        \ 3.0\n      kf_debug_info: false\n      maximum_age_for_vision_yaw: 1.0\n\
        \      vision_yaw_box_score_ratio_threshold: 1.75\n      vision_yaw_box_score_offset:\
        \ 5.0\n      vision_yaw_box_max_object_dim: 5.0\n      road_yaw_box_score_ratio_threshold:\
        \ 1.25\n      radar_track_max_width: 2.5\n      yaw_rate_damping_coeff_for_r_pos_update:\
        \ 0.8\n      length_of_history_for_vision_smooth_velocity: 1.0\n      max_width_for_detection_box_for_pose_from_vision:\
        \ 300\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: 0.015\n      vision_to_radar_min_db_power:\
        \ 5.0\n      fraction_of_distance_from_baselink_th: 0.1\n      min_kf_score_for_crosscam_da:\
        \ -3.0\n      time_diff_to_use_only_appearance_features: 0.1\n      # 5 degrees\n\
        \      max_angle_diff_for_crosscam_da: 0.0872665\n      max_dist_for_angle_diff_for_crosscam_da:\
        \ 30.0\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_extent: 2.5\n    min_box_extent_to_be_trust_worthy: 0.5\n\
        \    num_moving_fast_observation_to_be_confident: 3\n    moving_slow_velocity:\
        \ 2.0\n    blob_valid_from_shape: 0.2\n    prune_radar_if_not_observed_for:\
        \ 0.17\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  \
        \    probability_dynamic_when_l_or_lr_car_close_to_parking_lane: 0.6\n   \
        \   l_or_lr_parked_car_near_road_edge: -0.7\n      road_status_hysteresis:\
        \ 0.8\n      past_observations_to_consider: 15\n      road_status_hysteresis_for_bike_and_ped:\
        \ 0.7\n      freespace_ratio_thresh_for_off_road_bike: 0.4\n      probability_dynamic_when_off_road_bike_has_large_freespace_ratio:\
        \ 0.9\n    }\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      min_freespace_voxel_ratio_for_freespace_association:\
        \ 0.5\n      max_distance_for_freespace_association: 1.0\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    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      robot_distance_thres:\
        \ 20.0\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      robot_distance_thres: 20.0\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_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  \
        \  kalman_da_log_likelihood_for_peds: -1.0\n    static_ped_blob_freespace_voxel_ratio_threshold:\
        \ 0.7\n    kalman_da_log_likelihood_for_static_peds: 0.5\n    num_of_vision_observations_for_high_confidence:\
        \ 60\n    kalman_da_log_likelihood_for_new_lidar_track: -4.5\n\n    freespace_voxel_ratio_threshold:\
        \ 0.7\n\n    remove_vision_track_id_not_seen_for: 0.7\n    remove_new_vision_track_id_not_seen_for_metaspins:\
        \ 2\n    new_vision_track_detection_threshold: 2\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\n    min_prune_mono_dist:\
        \ 40.0\n    prune_mono_track_if_variance_above: 3.0\n    mono_is_stale_if_older:\
        \ 2.0\n\n    track_is_fast_for_vision: 5.0\n    min_vision_obs_for_fast_track:\
        \ 3\n    min_vision_obs_for_slow_track: 2\n\n    min_num_observation_for_lidar_track_to_be_confident:\
        \ 2\n\n    early_outlier_rejector_params {\n      min_blob_box_fraction_inside_road_for_car:\
        \ 0.7\n      ignore_vision_if_kf_likelihood_below: -100.0\n      max_velocity_offroad:\
        \ 3.0\n      max_ped_velocity_onroad: 5.0\n      max_velocity_offroad_blob_in_freespace:\
        \ 4.0\n      max_bike_velocity: 15.0\n      max_car_velocity: 24.0\n     \
        \ vehicle_overspeed_threshold: 15.0\n      vehicle_overspeed_ratio: 1.7\n\
        \      dist_thres_for_vel_filter: 1.0\n      dist_thres_for_occluded: 1.0\n\
        \    }\n\n    track_classifier_params {\n      moving_average_decay: 0.9\n\
        \      min_distance_from_drivable_surface_for_lidar_car_likely_infra: -1.0\n\
        \      clutter_prob_for_infra: 0.5\n      timeout_vision_class: 1.2 #[sec]\n\
        \      max_dist_no_vision_class_timeout: 40.0\n      clutter_reclassify: true\n\
        \      clutter_reclassify_bottom_plane_min_z_to_tag_as_hanging: 1.0\n    \
        \  clutter_reclassify_min_speed_to_classify_as_car: 3.0\n      clutter_reclassify_max_speed_to_classify_as_car:\
        \ 40.0\n      clutter_reclassify_min_smaller_extent_to_classify_as_fast_car:\
        \ 1.5\n      clutter_reclassify_max_zheight_to_classify_as_big_car: 4.3\n\
        \      clutter_reclassify_no_zrn_freespace_thresh: 0.6\n      num_lidar_observations_for_lidar_clutter_classification:\
        \ 3\n      max_distance_for_lidar_clutter_classification: 25.0\n      max_vision_class_observations_for_lidar_clutter_classification:\
        \ 5\n      max_car_width_for_lidar_clutter_classification: 0.4\n      stick_dynamic_label_count_for_lidar_track:\
        \ 20\n      velocity_threshold_for_dynamic_stickiness: 2.0\n      l_or_lr_ped_bike_track_static_if_fraction_occlusion_above:\
        \ 0.9\n    }\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_blob_labeler_params: 'camera_name: "north_wide_left"

      max_timestamp_diff: 1.0

      '
    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: \"dark_sauron\"\n  ignore_car_classification_from\
      \ {\n    key: \"north_narrow_left\"\n    value: true\n  }\n}\nvision_camera_configs\
      \ {\n  camera_configs: \"saruman\"\n  ignore_car_classification_from\
      \ {\n    key: \"north_narrow_left\"\n    value: true\n  }\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_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# Whether\
      \ to use mono hypothesis or not.\nuse_mono_hypothesis: true\ndepth_estimator_options\
      \ {\n    use_monocular_weight: true\n    monocular_weight_min: 0.1\n    monocular_weight_max:\
      \ 1.0\n    use_location_weight: true\n    gaussian_grid_size: 10\n    gaussian_sigma_factor:\
      \ 0.25\n    use_gpu_if_available: true\n    num_vision_tracks_guess: 200\n \
      \   num_frames_guess: 12\n    point_cloud_size_guess: 70000\n    num_mono_bins_guess:\
      \ 36\n    mono_probability_threshold_car: 0.1\n    mono_probability_threshold_ped:\
      \ 0.0\n    mono_probability_threshold_bike: 0.0\n}\n# Whether to use DeepVMA\
      \ hypothesis or not.\nuse_deepvma_hypothesis: true\n# Always use DeepVMA hypothesis\
      \ when available and don't populate other\n# hypotheses.\nonly_use_deepvma_hypothesis:\
      \ true\ndeepvma_depth_mode: BOX_SURFACE_IF_RELIABLE\ndeepvma_prob_threshold:\
      \ 0.2\ndeepvma_hypo_score_mode: HS_REGULAR_SCORE\ndeepvma_params {\n    deploy_params\
      \ {\n        caffe_model_file: \"s3://zoox-3dp/models/deepvma_v2_1/caffe.pbtxt\"\
      \n        caffe_weights_file: \"s3://zoox-3dp/models/deepvma_v2_1/deepvma-instance_seg_box_reg_cey_tnet_twostage_2x1M-2000001.caffemodel\"\
      \n        num_points_guess: 40000\n        max_num_dets_in_batch_guess: 300\n\
      \n        min_deepvma_box_score_for_car: 10.337\n    }\n    data_params\
      \ {\n        scale_roi: 1.2\n    }\n    model_params {\n        use_label_id:\
      \ true\n        use_mono_prob: true\n        use_semseg: false\n        use_vision_yaw:\
      \ true\n        regress_box: true\n\n        # These parameters are only used\
      \ if box regression is switched on.\n        use_instance_seg_normalization:\
      \ true\n        use_per_point_feats_in_box_reg: true\n        box_param_type:\
      \ CEY\n\n        num_orientation_bins: 8\n        # Pedestrian\n        extent_bin\
      \ {\n            # Length\n            value: 0.8\n            # Width\n   \
      \         value: 0.8\n            # Height\n            value: 1.7\n       \
      \ }\n        # Bike\n        extent_bin {\n            # Length\n          \
      \  value: 1.5\n            # Width\n            value: 0.8\n            # Height\n\
      \            value: 1.6\n        }\n        # Car\n        extent_bin {\n  \
      \          # Length\n            value: 4.0\n            # Width\n         \
      \   value: 3.0\n            # Height\n            value: 2.0\n        }\n  \
      \      # Truck\n        extent_bin {\n            # Length\n            value:\
      \ 8.0\n            # Width\n            value: 4.0\n            # Height\n \
      \           value: 3.0\n        }\n\n    }\n}\n"
    vision_pose_estimation_params: "# Currently the narrow cameras are disabled for\
      \ purposes of vehicle processing\n# so they are disabled here as well. At the\
      \ appropriate time they should be\n# uncommented.\n# Note that this list of\
      \ cameras should describe cameras for all vehicles\n# (e.g. L3s do not have\
      \ south_wide_* cameras, but they should be listed here).\n# Moreover, vision\
      \ currently does not run on both cameras in the pair, so\n# only one of 'north_wide_left'/'north_wide_right'\
      \ will actually produce\n# results.\ncamera_to_use: \"north_wide_left\"\ncamera_to_use:\
      \ \"north_wide_right\"\ncamera_to_use: \"west_wide_right\"\ncamera_to_use: \"\
      west_wide_left\"\ncamera_to_use: \"east_wide_left\"\ncamera_to_use: \"east_wide_right\"\
      \ncamera_to_use: \"south_wide_left\"\ncamera_to_use: \"south_wide_right\"\n\
      camera_to_use: \"southeast_wide_left\"\ncamera_to_use: \"southeast_wide_right\"\
      \ncamera_to_use: \"southwest_wide_left\"\ncamera_to_use: \"southwest_wide_right\"\
      \n\n# Enable pose estimation for vehicles\nlabel_to_use: PERCEPTION_LABEL_COMPOUND_VEHICLE\n\
      label_to_use: PERCEPTION_LABEL_CAR\nlabel_to_use: PERCEPTION_LABEL_BUS\nlabel_to_use:\
      \ PERCEPTION_LABEL_TRUCK\n\npose_estimation_options {\n  # All options listed\
      \ below are no longer used, except on old (pre-2018)\n  # logs that do not have\
      \ this information computed on the vision side.\n  # They can be deleted once\
      \ there is no longer any need to refer to those\n  # old logs.\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"
  radar:
    config: {steer_angle_ratio: 16, use_steer_angle: 1, wheel_base: 2.78}
    radar_front: {device_ip: 192.168.3.30, mount_angle: -0.00317027, multicast_ip: 225.0.0.1,
      orientation: 0, udp_port: 31122, x_offset: 3.66, y_offset: -0.04}
    radar_left: {device_ip: 192.168.3.32, mount_angle: 0.945058, multicast_ip: 225.0.0.1,
      orientation: 0, udp_port: 31122, x_offset: 3.35, y_offset: 0.96}
    radar_rear: {device_ip: 192.168.3.31, mount_angle: -3.13895, multicast_ip: 225.0.0.1,
      orientation: 0, udp_port: 31122, x_offset: -1.15, y_offset: 0.0}
    radar_rear_left: {device_ip: 192.168.3.34, mount_angle: 2.45234, multicast_ip: 225.0.0.1,
      orientation: 0, udp_port: 31122, x_offset: -0.93, y_offset: 0.96}
    radar_rear_right: {device_ip: 192.168.3.35, mount_angle: -2.45344, multicast_ip: 225.0.0.1,
      orientation: 0, udp_port: 31122, x_offset: -0.93, y_offset: -0.96}
    radar_right: {device_ip: 192.168.3.33, mount_angle: -0.921807, multicast_ip: 225.0.0.1,
      orientation: 0, udp_port: 31122, 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_vision1: {diagnostic_hostname: vision1}
gpu_monitor_vision2: {diagnostic_hostname: vision2}
gpu_monitor_vision3: {diagnostic_hostname: vision3}
gpu_monitor_vision4: {diagnostic_hostname: vision4}
gpu_monitor_vision5: {diagnostic_hostname: vision5}
gpu_monitor_vision6: {diagnostic_hostname: vision6}
gpu_monitor_vision7: {diagnostic_hostname: vision7}
hardware_config_root: /tmp/tmpx4izXl
hardware_config_version: 1
hd_monitor: {diagnostic_hostname: mainai, mount_points: '/,/media/zoox/zooxdata*'}
hd_monitor_vision1: {diagnostic_hostname: vision1, mount_points: '/,/data'}
hd_monitor_vision2: {diagnostic_hostname: vision2, mount_points: '/,/data'}
hd_monitor_vision3: {diagnostic_hostname: vision3, mount_points: '/,/data'}
hd_monitor_vision4: {diagnostic_hostname: vision4, mount_points: '/,/data'}
hd_monitor_vision5: {diagnostic_hostname: vision5, mount_points: '/,/data'}
hd_monitor_vision6: {diagnostic_hostname: vision6, mount_points: '/,/data'}
hd_monitor_vision7: {diagnostic_hostname: vision7, 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}
hd_smart_monitor7: {pub_period: 60.0}
lidar_aggregator1: {board_hostname: lidar-aggregator1}
lidar_aggregator2: {board_hostname: lidar-aggregator2}
lidar_extrinsics: /tmp/tmpx4izXl/pucks.xml
lidar_velodyne_diagnostic_aggregator:
  analyzers:
    lidar:
      analyzers:
        velodyne1:
          find_and_remove_prefix: [driving/velodyne1/lidar_projector, driving/velodyne1]
          num_items: 3
          path: Velodyne1
          type: diagnostic_aggregator/GenericAnalyzer
        velodyne2:
          find_and_remove_prefix: [driving/velodyne2/lidar_projector, driving/velodyne2]
          num_items: 3
          path: Velodyne2
          type: diagnostic_aggregator/GenericAnalyzer
        velodyne3:
          find_and_remove_prefix: [driving/velodyne3/lidar_projector, driving/velodyne3]
          num_items: 3
          path: Velodyne3
          type: diagnostic_aggregator/GenericAnalyzer
        velodyne4:
          find_and_remove_prefix: [driving/velodyne4/lidar_projector, driving/velodyne4]
          num_items: 3
          path: Velodyne4
          type: diagnostic_aggregator/GenericAnalyzer
        velodyne5:
          find_and_remove_prefix: [driving/velodyne5/lidar_projector, driving/velodyne5]
          num_items: 3
          path: Velodyne5
          type: diagnostic_aggregator/GenericAnalyzer
        velodyne6:
          find_and_remove_prefix: [driving/velodyne6/lidar_projector, driving/velodyne6]
          num_items: 3
          path: Velodyne6
          type: diagnostic_aggregator/GenericAnalyzer
        velodyne7:
          find_and_remove_prefix: [driving/velodyne7/lidar_projector, driving/velodyne7]
          num_items: 3
          path: Velodyne7
          type: diagnostic_aggregator/GenericAnalyzer
        velodyne8:
          find_and_remove_prefix: [driving/velodyne8/lidar_projector, driving/velodyne8]
          num_items: 3
          path: Velodyne8
          type: diagnostic_aggregator/GenericAnalyzer
      path: Lidar
      type: diagnostic_aggregator/AnalyzerGroup
llc_gateway: {can_interface_ai: 'local://can0', can_interface_chassis: 'local://can1',
  can_interface_das: 'local://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: 552917.6628252007, y: 4183761.975566198, 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,
    smooth_recenter_dist: 5000}
  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:
      expected: ['loc6_spin_loader_node: loc6_spin_loader_diagnostic', 'loc6_spin_loader_node:
          loc6_spin_loader_zci', 'loc6_aligner_node: loc6_aligner_diagnostic', 'loc6_aligner_node:
          loc6_aligner_zci', 'hero_state_node: hero_state_diagnostic', 'hero_state_node: hero_state_zci']
      path: Localizer
      remove_prefix: [loc6_spin_loader_node, loc6_aligner_node, hero_state_node]
      type: diagnostic_aggregator/GenericAnalyzer
mofo_gateway: {data_port: 2180, expected_encoder_rate: 10, 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:
      expected: ['perception_lidar: obstacle_detection_zci', 'perception_lidar: Obstacle
          Detector Time', 'perception_lidar: Obstacle Detector topic status', 'perception_lidar:
          PerceptionDiagnostic', 'perception_lidar: simple_spin_loader_zci']
      path: Perception
      remove_prefix: [perception_lidar]
      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  transform {\n\
  \    translation {\n      x: 0.30558295660322504\n      y: -0.25821655973847712\n\
  \      z: -0.10315389349557448\n    }\n    euler_rotation {\n      roll_radians:\
  \ -0.080914457711618815\n      pitch_radians: -0.000736790770494413\n      yaw_radians:\
  \ -0.007541682730955351\n    }\n  }\n}\n\n# Options for wheel-odometry constraints.\n\
  wheel_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: 'local://can0'}
radar_calibration_date: '2018-02-28'
radar_diagnostic_aggregator:
  analyzers:
    radar_front_bosch: {expected: 'radar_front_bosch/radar_driver: radar_front-bosch_mrr',
      find_and_remove_prefix: radar_front_bosch, path: Radar_front_bosch, type: diagnostic_aggregator/GenericAnalyzer}
    radar_front_conti: {expected: 'radar_front_conti/radar_driver: radar_front-conti_ars_430',
      find_and_remove_prefix: radar_front_conti, path: Radar_front_conti, type: diagnostic_aggregator/GenericAnalyzer}
    radar_left_bosch: {expected: 'radar_left_bosch/radar_driver: radar_left-bosch_mrr',
      find_and_remove_prefix: radar_left_bosch, path: Radar_left_bosch, type: diagnostic_aggregator/GenericAnalyzer}
    radar_left_conti: {expected: 'radar_left_conti/radar_driver: radar_left-conti_ars_430',
      find_and_remove_prefix: radar_left_conti, path: Radar_left_conti, type: diagnostic_aggregator/GenericAnalyzer}
    radar_rear_bosch: {expected: 'radar_rear_bosch/radar_driver: radar_rear-bosch_mrr',
      find_and_remove_prefix: radar_rear_bosch, path: Radar_rear_bosch, type: diagnostic_aggregator/GenericAnalyzer}
    radar_rear_conti: {expected: 'radar_rear_conti/radar_driver: radar_rear-conti_ars_430',
      find_and_remove_prefix: radar_rear_conti, path: Radar_rear_conti, type: diagnostic_aggregator/GenericAnalyzer}
    radar_rear_left_bosch: {expected: 'radar_rear_left_bosch/radar_driver: radar_rear_left-bosch_mrr',
      find_and_remove_prefix: radar_rear_left_bosch, path: Radar_rear_left_bosch,
      type: diagnostic_aggregator/GenericAnalyzer}
    radar_rear_left_conti: {expected: 'radar_rear_left_conti/radar_driver: radar_rear_left-conti_ars_430',
      find_and_remove_prefix: radar_rear_left_conti, path: Radar_rear_left_conti,
      type: diagnostic_aggregator/GenericAnalyzer}
    radar_rear_right_bosch: {expected: 'radar_rear_right_bosch/radar_driver: radar_rear_right-bosch_mrr',
      find_and_remove_prefix: radar_rear_right_bosch, path: Radar_rear_right_bosch,
      type: diagnostic_aggregator/GenericAnalyzer}
    radar_rear_right_conti: {expected: 'radar_rear_right_conti/radar_driver: radar_rear_right-conti_ars_430',
      find_and_remove_prefix: radar_rear_right_conti, path: Radar_rear_right_conti,
      type: diagnostic_aggregator/GenericAnalyzer}
    radar_right_bosch: {expected: 'radar_right_bosch/radar_driver: radar_right-bosch_mrr',
      find_and_remove_prefix: radar_right_bosch, path: Radar_right_bosch, type: diagnostic_aggregator/GenericAnalyzer}
    radar_right_conti: {expected: 'radar_right_conti/radar_driver: radar_right-conti_ars_430',
      find_and_remove_prefix: radar_right_conti, path: Radar_right_conti, type: diagnostic_aggregator/GenericAnalyzer}
  path: Radar
  type: diagnostic_aggregator/AnalyzerGroup
radar_front_bosch:
  radar_driver: {can_interface: can1, radar_name: radar_front, radar_type: bosch_mrr}
radar_front_conti:
  radar_driver: {can_interface: can0, radar_name: radar_front, radar_type: conti_ars_430}
radar_left_bosch:
  radar_driver: {can_interface: can3, radar_name: radar_left, radar_type: bosch_mrr}
radar_left_conti:
  radar_driver: {can_interface: can0, radar_name: radar_left, radar_type: conti_ars_430}
radar_params: /tmp/tmpx4izXl/radar_config.yaml
radar_rear_bosch:
  radar_driver: {can_interface: can2, radar_name: radar_rear, radar_type: bosch_mrr}
radar_rear_conti:
  radar_driver: {can_interface: can0, radar_name: radar_rear, radar_type: conti_ars_430}
radar_rear_left_bosch:
  radar_driver: {can_interface: can5, radar_name: radar_rear_left, radar_type: bosch_mrr}
radar_rear_left_conti:
  radar_driver: {can_interface: can0, radar_name: radar_rear_left, radar_type: conti_ars_430}
radar_rear_right_bosch:
  radar_driver: {can_interface: can6, radar_name: radar_rear_right, radar_type: bosch_mrr}
radar_rear_right_conti:
  radar_driver: {can_interface: can0, radar_name: radar_rear_right, radar_type: conti_ars_430}
radar_right_bosch:
  radar_driver: {can_interface: can4, radar_name: radar_right, radar_type: bosch_mrr}
radar_right_conti:
  radar_driver: {can_interface: can0, radar_name: radar_right, radar_type: conti_ars_430}
radar_urdf: /tmp/tmpx4izXl/radars.xml
rcv_state_publisher: {use_tf_static: true}
rn2_file: vehicle/zrn/embarcadero.zrn
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /opt/zoox/ai/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=\"\
  package://rcv/models/v2/highlander_stylized/base.dae\" scale=\"1 1 1\"/>\n     \
  \ </geometry>\n      <material name=\"black\">\n        <color rgba=\"1 1 1 1\"\
  />\n      </material>\n    </visual>\n    <visual>\n      <origin rpy=\"0.035581221\
  \ 0.189029106 2.397966117\" xyz=\"-0.362999976 0.642000020 1.449000001\"/>\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=\"0.055131062 0.104428084 -2.418722489\" xyz=\"-0.372999996 -0.592000067 1.529000044\"\
  />\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=\"0.077911964 0.193168444 2.472144425\" xyz=\"-0.982999980 0.754000008 0.490000010\"\
  />\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=\"0.072949186 0.116905395 -2.439780930\" xyz=\"-0.992999971 -0.843999982 0.589999974\"\
  />\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=\"-0.067617498 0.134618768 0.543668672\" xyz=\"1.747000098 0.709000051 1.391999960\"\
  />\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=\"-0.069283494 0.056535943 -0.563064718\" xyz=\"1.757000089 -0.649000049 1.481999993\"\
  />\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=\"-0.087131377 0.255567744 0.936733152\" xyz=\"3.344000101 0.901000023 0.387999982\"\
  />\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=\"-0.049242525 0.110977920 -0.934137197\" xyz=\"3.334000111 -0.951000035 0.527999997\"\
  />\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=\"0.035581221 0.189029106 2.397966117\"\
  \ xyz=\"-0.362999976 0.642000020 1.449000001\"/>\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=\"0.055131062 0.104428084 -2.418722489\"\
  \ xyz=\"-0.372999996 -0.592000067 1.529000044\"/>\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=\"0.077911964 0.193168444 2.472144425\"\
  \ xyz=\"-0.982999980 0.754000008 0.490000010\"/>\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=\"0.072949186 0.116905395 -2.439780930\"\
  \ xyz=\"-0.992999971 -0.843999982 0.589999974\"/>\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=\"-0.067617498 0.134618768\
  \ 0.543668672\" xyz=\"1.747000098 0.709000051 1.391999960\"/>\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=\"\
  -0.069283494 0.056535943 -0.563064718\" xyz=\"1.757000089 -0.649000049 1.481999993\"\
  />\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=\"-0.087131377 0.255567744 0.936733152\" xyz=\"3.344000101 0.901000023\
  \ 0.387999982\"/>\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=\"-0.049242525 0.110977920 -0.934137197\"\
  \ xyz=\"3.334000111 -0.951000035 0.527999997\"/>\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=\"-0.024617707833 -0.00465855109408\
  \ -1.22270078948\" xyz=\"1.56494377919 -0.633988228744 1.37326235927\"/>\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=\"\
  0.0215904921511 0.0164716266521 -1.13634049222\" xyz=\"-0.221922123227 -0.592746210769\
  \ 1.39686838466\"/>\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=\"-0.0713834212854 -0.0825106774503 0.026271130378\" xyz=\"\
  1.83745605281 0.317192687097 1.28902786594\"/>\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=\"-0.0659812992213 -0.0733863118551\
  \ 0.0171453533764\" xyz=\"1.84322332947 -0.260040216017 1.32875018558\"/>\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=\"\
  -0.0727032287644 0.0682700238361 -0.0194111001384\" xyz=\"1.71250936738 0.616070985641\
  \ 1.29428473069\"/>\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=\"-0.082224533178 0.0701912175314 -0.018184329685\" xyz=\"1.67653710384\
  \ -0.575507962026 1.37024125088\"/>\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=\"0.0606384688246 0.0874288265643 -2.53981895674\"\
  \ xyz=\"-0.389884662298 -0.443039445568 1.38269377335\"/>\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=\"0.125637383048 0.0506948833168\
  \ -2.52799142016\" xyz=\"-0.470098705048 0.164694323029 1.39167357215\"/>\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=\"\
  0.00403791351589 0.144103285029 2.56209691768\" xyz=\"-0.457004836615 -0.152893976771\
  \ 1.41425481265\"/>\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=\"0.0465154254461 0.155147035057 2.50614060935\" xyz=\"-0.398368601818\
  \ 0.507882882227 1.31148370953\"/>\n  </joint>\n  <link name=\"camera14\"/>\n  <joint\
  \ name=\"camera14_joint\" type=\"fixed\">\n    <parent link=\"base_link\"/>\n  \
  \  <child link=\"camera14\"/>\n    <origin rpy=\"-0.0571126499041 -0.0743278141216\
  \ 0.0326842450237\" xyz=\"1.71009903715 -0.433294587805 1.35201111064\"/>\n  </joint>\n\
  \  <link name=\"camera13\"/>\n  <joint name=\"camera13_joint\" type=\"fixed\">\n\
  \    <parent link=\"base_link\"/>\n    <child link=\"camera13\"/>\n    <origin rpy=\"\
  -0.042559355463 0.0713357894373 0.00998514047739\" xyz=\"1.73496270646 0.495471277771\
  \ 1.29823733542\"/>\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=\"-0.0644098017054 0.139078045457 1.11026963187\" xyz=\"-0.229390456964\
  \ 0.646667788212 1.30924141264\"/>\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=\"-0.0368999406278 0.144683049546\
  \ 1.18386503909\" xyz=\"1.61921899931 0.68647945354 1.2790439713\"/>\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_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 -2.45344\" xyz=\"-0.93 -0.96 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 2.45234\"\
  \ 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 -0.921807\" 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 -3.13895\" xyz=\"-1.15 0 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\
  \ 0.945058\" xyz=\"3.35 0.96 0\"/>\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 -0.00317027\" xyz=\"\
  3.66 -0.04 0\"/>\n  </joint>\n</robot>\n\n"
robot_name: kitt_06
ros_dds_bridge_vhx: {plugin_config: /opt/zoox/ai/zoox/teleop/telemetry/ros_dds_bridge/config/plugins_ros_vhx.pbtxt}
ros_dds_bridge_video_record: {plugin_config: /opt/zoox/ai/zoox/teleop/telemetry/ros_dds_bridge/config/plugins_ros_video_record.pbtxt}
rosdistro: indigo
rosversion: 1.0.0
swopdash_diagnostic_aggregator:
  analyzers:
    swopdash: {path: Swopdash, startswith: swopdash, type: diagnostic_aggregator/GenericAnalyzer}
system_monitor: {diagnostic_hostname: mainai}
system_monitor_vision1: {diagnostic_hostname: vision1}
system_monitor_vision2: {diagnostic_hostname: vision2}
system_monitor_vision3: {diagnostic_hostname: vision3}
system_monitor_vision4: {diagnostic_hostname: vision4}
system_monitor_vision5: {diagnostic_hostname: vision5}
system_monitor_vision6: {diagnostic_hostname: vision6}
system_monitor_vision7: {diagnostic_hostname: vision7}
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@192.168.0.71:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@192.168.0.71:8554/CH002.sdp'}
    teleop_north: {enabled: true, stream1_uri: 'rtsp://admin:admin1234@192.168.0.70:8554/cam/realmonitor?channel=1&subtype=0',
      stream2_uri: 'rtsp://admin:admin1234@192.168.0.70:8554/cam/realmonitor?channel=1&subtype=1'}
    teleop_south: {enabled: true, stream1_uri: 'rtsp://admin:admin@192.168.0.72:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@192.168.0.72:8554/CH002.sdp'}
    teleop_west: {enabled: true, stream1_uri: 'rtsp://admin:admin@192.168.0.73:8554/CH001.sdp',
      stream2_uri: 'rtsp://admin:admin@192.168.0.73:8554/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:
      expected: ['confidence_analyzer: confidence_analyzer_zci', 'critical_coprocessor:
          critical_coprocessor_zci', 'entity_confidence: entity_confidence_zci', 'hero_heartbeat_node:
          heartbeat_component_zci', 'network_health_reporter: network_estimator_sender_zci',
        'network_health_reporter: network_estimator_zci', 'network_health_reporter:
          network_health_zci', 'ros_dds_bridge_vhx: _dbg_decision_interactions--dbg__decision__interactions',
        'ros_dds_bridge_vhx: _dbg_decision_trajectory--decision_trajectory', 'ros_dds_bridge_vhx:
          _dbg_mission_points--mission_points', 'ros_dds_bridge_vhx: _dbg_smoother_fused_corridor--fused_corridor',
        'ros_dds_bridge_vhx: _dbg_smoother_trajectory--smoother_trajectory', 'ros_dds_bridge_vhx:
          _diagnostics_agg--diagnostics_agg', 'ros_dds_bridge_vhx: _driving_hero_heartbeat--driving__hero_heartbeat',
        'ros_dds_bridge_vhx: _driving_PerceptionObstacles2--perception_obs2_quantized',
        'ros_dds_bridge_vhx: _planner_decision--planner__decision', 'ros_dds_bridge_vhx:
          _planner_hero_state--hero_state', 'ros_dds_bridge_vhx: _planner_mission--mission',
        'ros_dds_bridge_vhx: _planner_teleop_corridor_modification_feedback--corridor_modification_feedback',
        'ros_dds_bridge_vhx: _planner_teleop_obstacle_fusion_feedback--obstacle_fusion_feedback',
        'ros_dds_bridge_vhx: _planner_teleop_trigger--planner__teleop_trigger', 'ros_dds_bridge_vhx:
          _teleop_health--teleop_health', 'ros_dds_bridge_vhx: _teleop_nogo_state--nogo_state',
        'ros_dds_bridge_vhx: _teleop_system_confidence--system_confidence', 'ros_dds_bridge_vhx:
          _teleop_timestamp--teleop_timestamp', 'ros_dds_bridge_vhx: _teleop_vehicle_discovery--vehicle_discovery',
        'ros_dds_bridge_vhx: _vehicle_measurements--vehicle_measurements', 'teleop_supervisor_node:
          telemetry_state_component_zci', 'teleop_supervisor_node: teleop_interaction_component_zci',
        'ziod_router_diagnostics: vhx_1_wan:DomainRoute', 'ziod_router_diagnostics:
          vhx_1_wan:vehicle_discovery', 'ziod_router_diagnostics: vhx_2_wan:DomainRoute']
      path: Teleop
      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: /opt/zoox/ai/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_east, rtsp_uri_stream1: 'rtsp://admin:admin@192.168.0.71:8554/CH001.sdp',
    rtsp_uri_stream2: 'rtsp://admin:admin@192.168.0.71:8554/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: /opt/zoox/ai/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_north, rtsp_uri_stream1: 'rtsp://admin:admin1234@192.168.0.70:8554/cam/realmonitor?channel=1&subtype=0',
    rtsp_uri_stream2: 'rtsp://admin:admin1234@192.168.0.70:8554/cam/realmonitor?channel=1&subtype=1',
    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: /opt/zoox/ai/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_south, rtsp_uri_stream1: 'rtsp://admin:admin@192.168.0.72:8554/CH001.sdp',
    rtsp_uri_stream2: 'rtsp://admin:admin@192.168.0.72:8554/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: /opt/zoox/ai/zoox/teleop/telemetry/video_stream/config/config_to_ziod.pbtxt,
    publisher_name: teleop_west, rtsp_uri_stream1: 'rtsp://admin:admin@192.168.0.73:8554/CH001.sdp',
    rtsp_uri_stream2: 'rtsp://admin:admin@192.168.0.73:8554/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/tmpyt502a}
vision: {vehicle_config: "# Default vision configuration.\ndefault_config {\n  detector:\
    \ \"MULTICLASS_DETECTOR_V16\"\n  tracker: \"TRACKER_PROD\"\n  # Orientation for\
    \ pedestrians.\n  attribute_filter: \"PEDESTRIAN_ORIENTATION_V1_FIXED_FREQ\"\n\
    \  # Orientation and fiducials for vehicles.\n  attribute_filter: \"vision/models/config/box_prototype_with_fiducials_attribute_filter.pbtxt\"\
    \n  attribute_filter: \"MONOCULAR_HEIGHT_V19_FIXED_FREQ\"\n\n  conductor_options\
    \ {\n    image_buffer_size: 10\n    detection_buffer_size: 1\n    tracking_buffer_size:\
    \ 5\n    stereo_buffer_size: 2\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    stereo_run_schedule: USE_LATEST\n\
    \    # Print to LOG(INFO) with at least this interval.\n    log_every_n_seconds:\
    \ 1.0\n  }\n}\n\n# Default 'night' configuration.\ndefault_config_night {\n  detector:\
    \ \"MULTICLASS_DETECTOR_V15_NIGHT_TRT\"\n  tracker: \"TRACKER_PROD_NIGHT\"\n \
    \ # Orientation for pedestrians.\n  attribute_filter: \"PEDESTRIAN_ORIENTATION_V1_FIXED_FREQ\"\
    \n  # Orientation and fiducials for vehicles.\n  attribute_filter: \"vision/models/config/box_prototype_with_fiducials_attribute_filter.pbtxt\"\
    \n  attribute_filter: \"MONOCULAR_HEIGHT_V19_FIXED_FREQ\"\n\n  conductor_options\
    \ {\n    image_buffer_size: 10\n    detection_buffer_size: 1\n    tracking_buffer_size:\
    \ 5\n    stereo_buffer_size: 2\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    stereo_run_schedule: USE_LATEST\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: [\"dark_sauron\"]\n  camera_group\
    \ {\n    name: [\"traffic_wide_left\", \"traffic_narrow_right\"]\n    use_default_models_config:\
    \ false\n    # Empty configuration means that during the day vision\n    # does\
    \ not run anything on this camera group.\n    models_config { }\n    models_config_night\
    \ {\n      detector: \"MULTICLASS_DETECTOR_V15_TRAFFIC_NIGHT_TRT\"\n      conductor_options\
    \ {\n        image_buffer_size: 10\n        detection_buffer_size: 1\n      }\n\
    \    }\n    primary_camera { name: \"traffic_wide_left\" }\n    primary_camera\
    \ { name: \"traffic_narrow_right\" }\n  }\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:\
    \ [\"saruman\"]\n  camera_group {\n    name: [\"rolling_shutter_left\", \"rolling_shutter_right\"\
    ]\n    use_default_models_config: false\n    # Empty configuration means that\
    \ during the day vision\n    # does not run anything on this camera group.\n \
    \   models_config { }\n    models_config_night {\n      detector: \"MULTICLASS_DETECTOR_V15_TRAFFIC_NIGHT_TRT\"\
    \n      conductor_options {\n        image_buffer_size: 10\n        detection_buffer_size:\
    \ 1\n      }\n    }\n    primary_camera { name: \"rolling_shutter_left\" }\n \
    \   primary_camera { name: \"rolling_shutter_right\" }\n  }\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.\ndisplay_options {\n\
    \  width: 320\n  rate: 1\n  type: DISPLAY_RESULT_DETECTION\n}\n", vehicle_config_fn: /opt/zoox/ai/zoox/vision/common/config/vehicle_config.pbtxt}
vision_diagnostic_aggregator:
  analyzers:
    vision:
      expected: ['vision1/cameras_vision1: vision_pipeline_diagnostic', 'vision2/cameras_vision2:
          vision_pipeline_diagnostic', 'vision3/cameras_vision3: vision_pipeline_diagnostic', 'vision4/cameras_vision4:
          vision_pipeline_diagnostic', 'vision5/cameras_vision5: vision_pipeline_diagnostic', 'vision6/cameras_vision6:
          vision_pipeline_diagnostic', 'vision7/cameras_vision7: vision_pipeline_diagnostic']
      path: Vision
      remove_prefix: [vision1, vision2, vision3, vision4, vision5, vision6, vision7]
      type: diagnostic_aggregator/GenericAnalyzer
