brix_config:
  brix1:
    address: brix1
    cameras:
    - north_narrow_left
    - north_narrow_right
  brix2:
    address: brix2
    cameras:
    - north_wide_left
    - north_wide_right
  brix3:
    address: brix3
    cameras:
    - west_wide_left
    - west_wide_right
  brix4:
    address: brix4
    cameras:
    - east_wide_left
    - east_wide_right
  brix5:
    address: brix5
    cameras:
    - southwest_wide_left
    - southwest_wide_right
  brix6:
    address: brix6
    cameras:
    - southeast_wide_left
    - southeast_wide_right
  brix7:
    address: brix7
    cameras:
    - traffic_wide_left
    - traffic_narrow_right
cameras:
  camera1:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1135.9717019574982
    - 1135.5804335102573
    - 975.2898471131247
    - 622.5475670928045
    - -0.21424182990265106
    - 0.08638060132318882
    model: Poly2
    name: north_wide_left
    serial: 17473797
  camera10:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1134.0453841271108
    - 1133.6961854120418
    - 953.3642135649546
    - 633.7904174289482
    - -0.19949458934041442
    - 0.06564847963461705
    model: Poly2
    name: west_wide_right
    serial: 17473796
  camera11:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1132.4959572370426
    - 1132.1768002843003
    - 957.9791733944489
    - 616.0267125003242
    - -0.20279359296412036
    - 0.06953250905899779
    model: Poly2
    name: southwest_wide_left
    serial: 17473794
  camera12:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1135.347764648593
    - 1135.274584930008
    - 961.4152826338056
    - 619.5700051033319
    - -0.2017024106819237
    - 0.06855305922206302
    model: Poly2
    name: southwest_wide_right
    serial: 17473786
  camera13:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1132.9954510101213
    - 1132.8389212515347
    - 965.8476428384749
    - 630.4744586716406
    - -0.21070616175133727
    - 0.07786319757461334
    model: Poly2
    name: traffic_wide_left
    serial: 17473777
  camera14:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 3181.222207420798
    - 3181.6556432368234
    - 958.7304249887362
    - 596.8702689652832
    - -0.09728874962961952
    - 0.23135666144760092
    model: Poly2
    name: traffic_narrow_right
    serial: 15223379
  camera2:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1133.2351300259618
    - 1132.8284544994185
    - 973.413243626381
    - 630.448493998459
    - -0.20844138937090795
    - 0.07618968160958452
    model: Poly2
    name: north_wide_right
    serial: 17473603
  camera3:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 3177.708618762977
    - 3177.42049093519
    - 968.2596056724985
    - 598.2333946841537
    - -0.10663136113047449
    - 0.298513260068905
    model: Poly2
    name: north_narrow_left
    serial: 17473452
  camera4:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 3171.2605660606378
    - 3171.3997525494633
    - 964.0258002885412
    - 609.7937795712523
    - -0.10076903886634939
    - 0.24609127962013042
    model: Poly2
    name: north_narrow_right
    serial: 17473462
  camera5:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1129.9032372695162
    - 1129.9909056044653
    - 962.8407224558736
    - 615.4219751388489
    - -0.1970096703558657
    - 0.06412051045203197
    model: Poly2
    name: east_wide_right
    serial: 17473784
  camera6:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1139.2392378902166
    - 1139.1047718037246
    - 966.3407753164014
    - 616.6681392481462
    - -0.20779472482969197
    - 0.07846160216483393
    model: Poly2
    name: east_wide_left
    serial: 17473779
  camera7:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1134.3433974128825
    - 1134.002797135135
    - 968.5087286888237
    - 622.9959629764224
    - -0.1999447701330495
    - 0.0663268790335323
    model: Poly2
    name: southeast_wide_left
    serial: 16363750
  camera8:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1132.4600269572784
    - 1132.5801770260537
    - 974.7865614573597
    - 609.2764214788082
    - -0.20094605214847128
    - 0.06827302625203858
    model: Poly2
    name: southeast_wide_right
    serial: 17473793
  camera9:
    imagesize:
    - 1920
    - 1200
    intrinsics:
    - 1134.9734769849565
    - 1135.7332680935656
    - 951.5924976182546
    - 638.4344089567346
    - -0.197578252274844
    - 0.06501897363018662
    model: Poly2
    name: west_wide_left
    serial: 17473785
rn2_file: vehicle/zrn/sf.zrn.pbtxt
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=\"0.012336905\
  \ 0.207621277 -0.949754288\" xyz=\"3.236000082 -0.951999985 0.497999947\"/>\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=\"-0.029998923 0.212423172 0.914687938\" xyz=\"3.231000072 0.857999994 0.482999964\"\
  />\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=\"0.003142793 0.014107729 -0.597687960\" xyz=\"1.644999981 -0.705999984 1.508000007\"\
  />\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=\"-0.012614590 0.025100894 0.538902575\" xyz=\"1.615999981 0.664999996 1.497000026\"\
  />\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=\"0.029429912 0.196366653 -2.462901759\" xyz=\"-1.070999949 -0.842000010 0.547000002\"\
  />\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=\"-0.030072049 0.212108193 2.427700395\" xyz=\"-1.070999940 0.773000020 0.536999971\"\
  />\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=\"0.013485502 0.137656779 -2.424796341\" xyz=\"-0.453999987 -0.637000050 1.521999936\"\
  />\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=\"0.006350625 0.156482543 2.367233880\" xyz=\"-0.466000003 0.592000016 1.500999969\"\
  />\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=\"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=\"0.012336905 0.207621277 -0.949754288\"\
  \ xyz=\"3.236000082 -0.951999985 0.497999947\"/>\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=\"-0.029998923 0.212423172\
  \ 0.914687938\" xyz=\"3.231000072 0.857999994 0.482999964\"/>\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=\"\
  0.003142793 0.014107729 -0.597687960\" xyz=\"1.644999981 -0.705999984 1.508000007\"\
  />\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=\"-0.012614590 0.025100894 0.538902575\" xyz=\"1.615999981 0.664999996\
  \ 1.497000026\"/>\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=\"0.029429912 0.196366653 -2.462901759\"\
  \ xyz=\"-1.070999949 -0.842000010 0.547000002\"/>\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=\"-0.030072049 0.212108193\
  \ 2.427700395\" xyz=\"-1.070999940 0.773000020 0.536999971\"/>\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=\"\
  0.013485502 0.137656779 -2.424796341\" xyz=\"-0.453999987 -0.637000050 1.521999936\"\
  />\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=\"0.006350625 0.156482543 2.367233880\" xyz=\"-0.466000003 0.592000016\
  \ 1.500999969\"/>\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=\"-0.00847101974843 0.0770571024076 -0.0190962096009\" xyz=\"\
  1.65696070529 0.573199005011 1.35570763774\"/>\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=\"-0.0103210759771 0.0834725106337\
  \ 1.16860901069\" xyz=\"1.51506207686 0.683624240918 1.35602348321\"/>\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=\"\
  -0.0504828646542 0.093275768008 2.56706071048\" xyz=\"-0.585700389226 -0.155490378564\
  \ 1.45292551154\"/>\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=\"0.012096699456 0.124843430917 2.48257678903\" xyz=\"-0.513934830102\
  \ 0.47101227563 1.39015597588\"/>\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=\"-0.00656000299509 0.0757659056402\
  \ 0.026311884064\" xyz=\"1.67540926687 0.446139653165 1.33616649625\"/>\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=\"\
  -0.00412534086446 -0.0720618677766 0.0124199404454\" xyz=\"1.6888196462 -0.48256426456\
  \ 1.35738131856\"/>\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=\"-0.00412296388335 0.0707139826133 -0.014294473865\" xyz=\"\
  1.67401407719 -0.604535941141 1.36904998584\"/>\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=\"-0.00963631392811 -0.0666511653415\
  \ 0.00244660769227\" xyz=\"1.74949334805 0.277482745392 1.32595277421\"/>\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=\"\
  -0.0129993110855 -0.0589087390211 0.0192401272178\" xyz=\"1.74691685571 -0.315542357757\
  \ 1.33051095002\"/>\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=\"0.0326239769047 0.0764001905805 -1.11436344391\" xyz=\"-0.320561812973\
  \ -0.667927278745 1.3898456739\"/>\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=\"0.00872275657825 0.0733553707543\
  \ -1.21078906621\" xyz=\"1.46057701464 -0.672861019607 1.34997809181\"/>\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=\"\
  0.00842470117966 0.108219140043 -2.50381725337\" xyz=\"-0.502482609357 -0.477260336001\
  \ 1.40003520851\"/>\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=\"0.0633655573216 0.0869019520386 -2.52362870283\" xyz=\"-0.591533208616\
  \ 0.131955003776 1.4466952345\"/>\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=\"-0.0485359218422 0.100111361996 1.06037254833\"\
  \ xyz=\"-0.325462348588 0.569203332973 1.38275465181\"/>\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_right\"\
  />\n  <joint name=\"radar_right_joint\" type=\"fixed\">\n    <parent link=\"base_link\"\
  />\n    <child link=\"radar_right\"/>\n    <origin rpy=\"0 0 -0.936297\" xyz=\"\
  3.35 -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 2.45241\" xyz=\"-0.93 0.96\
  \ 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 0.92232\" xyz=\"3.35 0.96 0\"/>\n  </joint>\n  <link\
  \ name=\"radar_rear_right\"/>\n  <joint name=\"radar_rear_right_joint\" type=\"\
  fixed\">\n    <parent link=\"base_link\"/>\n    <child link=\"radar_rear_right\"\
  />\n    <origin rpy=\"0 -0 -2.45398\" xyz=\"-0.93 -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 -0.0117605\" xyz=\"3.66 -0.04 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 -3.13492\" xyz=\"-1.15\
  \ 0 0\"/>\n  </joint>\n</robot>\n\n"
vision:
  vehicle_config: "# Default vision configuration.\ndefault_config {\n  detector:\
    \ \"MULTICLASS_DETECTOR_V17\"\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  attribute_filter:\
    \ \"VEHICLE_LIGHTS_PROD\"\n  attribute_filter: \"VEHICLE_LIGHTS_POSTPROCESSOR_PROD\"\
    \n  attribute_filter: \"BIKE_ORIENTATION_PROD\"\n}\n\n# Default 'night' configuration.\n\
    default_config_night {\n  detector: \"MULTICLASS_DETECTOR_V17_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\n# Configurations\
    \ for specific vehicle groups that share the same camera layout.\nvehicle_group\
    \ {\n  camera_layout_name: [\"storm\", \"newt\", \"tiger\", \"unknown\"]\n  platform:\
    \ [VEHICLE_COMPUTE_DEFAULT]\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_right\"\
    , \"west_wide_left\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"west_wide_right\" }\n  }\n  camera_group {\n    name: [\"east_wide_right\"\
    , \"east_wide_left\"]\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  platform: [VEHICLE_COMPUTE_DEFAULT]\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_right\", \"west_wide_left\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"west_wide_right\" }\n  }\n  camera_group\
    \ {\n    name: [\"east_wide_right\", \"east_wide_left\"]\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  platform: [VEHICLE_COMPUTE_DEFAULT]\n\
    \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_V16_1_TRAFFIC_NIGHT_TRT\"\
    \n    }\n    primary_camera { name: \"traffic_wide_left\" }\n    primary_camera\
    \ { name: \"traffic_narrow_right\" }\n\n    night_max_shutter: 2147487826\n  \
    \  night_max_gain: 2147483648\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    night_max_shutter: 2147488785\n    night_max_gain:\
    \ 2147483948\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    night_max_shutter: 2147488785\n    night_max_gain: 2147483948\n  }\n\
    \  camera_group {\n    name: [\"west_wide_right\", \"west_wide_left\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"west_wide_right\" }\n    night_max_shutter:\
    \ 2147488785\n    night_max_gain: 2147483948\n  }\n  camera_group {\n    name:\
    \ [\"east_wide_right\", \"east_wide_left\"]\n    use_default_models_config: true\n\
    \    primary_camera { name: \"east_wide_left\" }\n    night_max_shutter: 2147488785\n\
    \    night_max_gain: 2147483948\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    night_max_shutter: 2147488785\n    night_max_gain:\
    \ 2147483948\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    night_max_shutter: 2147488785\n    night_max_gain: 2147483948\n  }\n\
    }\n\nvehicle_group {\n  camera_layout_name: [\"saruman\"]\n  platform: [VEHICLE_COMPUTE_DEFAULT]\n\
    \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_V17\"\
    \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_right\"\
    , \"west_wide_left\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"west_wide_right\" }\n  }\n  camera_group {\n    name: [\"east_wide_right\"\
    , \"east_wide_left\"]\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\n\nvehicle_group {\n  camera_layout_name:\
    \ [\"ursula\"]\n  platform: [VEHICLE_COMPUTE_PLATFORM_31]\n\n  camera_group {\n\
    \    name: [\"n_n_narrow\", \"n_n_wide\", \"n_n_fisheye\", \"nw_w_wide\", \"w_w_fisheye\"\
    , \"ne_e_wide\", \"nw_s_rearview\", \"ne_s_rearview\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"n_n_narrow\" }\n    primary_camera { name:\
    \ \"n_n_wide\" }\n    primary_camera { name: \"n_n_fisheye\" }\n    primary_camera\
    \ { name: \"w_w_fisheye\" }\n    primary_camera { name: \"nw_w_wide\" }\n    primary_camera\
    \ { name: \"ne_e_wide\" }\n  }\n  camera_group {\n    name: [\"s_s_narrow\", \"\
    e_e_fisheye\", \"sw_n_rearview\", \"se_n_rearview\", \"sw_w_wide\", \"se_e_wide\"\
    , \"s_s_wide\", \"s_s_fisheye\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"s_s_narrow\" }\n    primary_camera { name: \"s_s_wide\" }\n    primary_camera\
    \ { name: \"s_s_fisheye\" }\n    primary_camera { name: \"e_e_fisheye\" }\n  \
    \  primary_camera { name: \"sw_w_wide\" }\n    primary_camera { name: \"se_e_wide\"\
    \ }\n  }\n}\n\n\nvehicle_group {\n  camera_layout_name: [\"ursula\"]\n  platform:\
    \ [VEHICLE_COMPUTE_DEFAULT]\n\n  camera_group {\n    name: [\"n_n_narrow\",\n\
    \           \"s_s_narrow\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"n_n_narrow\" }\n    primary_camera { name: \"s_s_narrow\" }\n  }\n\
    \  camera_group {\n    name: [\"n_n_wide\",\n           \"n_n_fisheye\"]\n   \
    \ use_default_models_config: true\n    primary_camera { name: \"n_n_wide\" }\n\
    \  }\n  camera_group {\n    name: [\"nw_w_wide\",\n           \"w_w_fisheye\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"nw_w_wide\"\
    \ }\n  }\n  camera_group {\n    name: [\"ne_e_wide\",\n           \"e_e_fisheye\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"ne_e_wide\"\
    \ }\n  }\n  camera_group {\n    name: [\"nw_s_rearview\",\n           \"sw_n_rearview\"\
    ]\n    # Empty configuration means that vision does not run on this camera group.\n\
    \    use_default_models_config: false\n    models_config {}\n    models_config_night\
    \ {}\n    primary_camera { name: \"nw_s_rearview\" }\n  }\n  camera_group {\n\
    \    name: [\"ne_s_rearview\",\n           \"se_n_rearview\"]\n    # Empty configuration\
    \ means that vision does not run on this camera group.\n    use_default_models_config:\
    \ false\n    models_config {}\n    models_config_night {}\n    primary_camera\
    \ { name: \"ne_s_rearview\" }\n  }\n  camera_group {\n    name: [\"sw_w_wide\"\
    ,\n           \"se_e_wide\"]\n    use_default_models_config: true\n    primary_camera\
    \ { name: \"sw_w_wide\" }\n    primary_camera { name: \"se_e_wide\" }\n  }\n \
    \ camera_group {\n    name: [\"s_s_wide\",\n           \"s_s_fisheye\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"s_s_wide\" }\n  }\n}\n\n\nvehicle_group {\n\
    \  camera_layout_name: [\"voldemort\"]\n  platform: [VEHICLE_COMPUTE_DEFAULT]\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_right\", \"west_wide_left\"\
    ]\n    use_default_models_config: true\n    primary_camera { name: \"west_wide_left\"\
    \ }\n    primary_camera { name: \"west_wide_right\" }\n  }\n  camera_group {\n\
    \    name: [\"east_wide_right\", \"east_wide_left\"]\n    use_default_models_config:\
    \ true\n    primary_camera { name: \"east_wide_left\" }\n    primary_camera {\
    \ name: \"east_wide_right\" }\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
