{
    "rig": {
        "sensors": [
            {
                "name": "camera_PortA_Jack0",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.77,
                        0.0,
                        1.47
                    ]
                },
                "parameter": "camera-type=ar0231-rccb-bae-sf3325,camera-group=a,camera-count=4,siblingIndex=0,format=lraw,output-format=raw+yuv,fifo-size=8,file-buffer-size=4194304,slave=1",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0 0.0010337684070691 2.2048213921266e-08 5.6866707523473e-12 3.1827639075709e-14",
                    "cx": "964.875977",
                    "cy": "645.572449",
                    "height": "1208",
                    "width": "1920"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "camera_PortA_Jack1",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.77,
                        0.0,
                        1.47
                    ]
                },
                "parameter": "camera-type=ar0231-rccb-bae-sf3325,camera-group=a,camera-count=4,siblingIndex=1,format=lraw,output-format=raw+yuv,fifo-size=8,file-buffer-size=4194304,slave=1",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0 0.0010337684070691 2.2048213921266e-08 5.6866707523473e-12 3.1827639075709e-14",
                    "cx": "964.875977",
                    "cy": "645.572449",
                    "height": "1208",
                    "width": "1920"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "camera_PortA_Jack2",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.77,
                        0.0,
                        1.47
                    ]
                },
                "parameter": "camera-type=ar0231-rccb-bae-sf3324,camera-group=a,camera-count=4,siblingIndex=2,format=lraw,output-format=raw+yuv,fifo-size=8,file-buffer-size=4194304,slave=1",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0 0.0010337684070691 2.2048213921266e-08 5.6866707523473e-12 3.1827639075709e-14",
                    "cx": "964.875977",
                    "cy": "645.572449",
                    "height": "1208",
                    "width": "1920"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "camera_PortA_Jack3",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.77,
                        0.0,
                        1.47
                    ]
                },
                "parameter": "camera-type=ar0231-rccb-bae-sf3324,camera-group=a,camera-count=4,siblingIndex=3,format=lraw,output-format=raw+yuv,fifo-size=8,file-buffer-size=4194304,slave=0",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0 0.0010337684070691 2.2048213921266e-08 5.6866707523473e-12 3.1827639075709e-14",
                    "cx": "964.875977",
                    "cy": "645.572449",
                    "height": "1208",
                    "width": "1920"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "camera_PortB_Jack0",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.77,
                        0.0,
                        1.47
                    ]
                },
                "parameter": "camera-type=ar0231-rccb-bae-sf3324,camera-group=b,camera-count=2,siblingIndex=0,format=lraw,output-format=raw+yuv,fifo-size=8,file-buffer-size=4194304,slave=0",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0 0.0010337684070691 2.2048213921266e-08 5.6866707523473e-12 3.1827639075709e-14",
                    "cx": "964.875977",
                    "cy": "645.572449",
                    "height": "1208",
                    "width": "1920"
                },
                "protocol": "camera.gmsl"
            },
            {
                "name": "camera_PortB_Jack1",
                "nominalSensor2Rig_FLU": {
                    "roll-pitch-yaw": [
                        0.0,
                        0.0,
                        0.0
                    ],
                    "t": [
                        1.77,
                        0.0,
                        1.47
                    ]
                },
                "parameter": "camera-type=ar0231-rccb-bae-sf3324,camera-group=b,camera-count=2,siblingIndex=1,format=lraw,output-format=raw+yuv,fifo-size=8,file-buffer-size=4194304,slave=0",
                "properties": {
                    "Model": "ftheta",
                    "bw-poly": "0 0.0010337684070691 2.2048213921266e-08 5.6866707523473e-12 3.1827639075709e-14",
                    "cx": "964.875977",
                    "cy": "645.572449",
                    "height": "1208",
                    "width": "1920"
                },
                "protocol": "camera.gmsl"
            }
        ],
        "vehicle": {
            "valid": true,
            "value": {
                "COMMENT": "steeringCoefficient is not validated",
                "aeroHeight": 1.5,
                "aerodynamicDragCoeff": 0.7,
                "axlebaseFront": 1.582,
                "axlebaseRear": 1.575,
                "brakeActuatorTimeConstant": 0.5,
                "brakeForceOutput": [
                    0,
                    714,
                    1423,
                    2143,
                    2857,
                    3571,
                    4286,
                    5000,
                    5714,
                    6429,
                    7143,
                    7857,
                    8571,
                    9286,
                    10000
                ],
                "brakeStateInput": [
                    0,
                    0.07,
                    0.14,
                    0.21,
                    0.29,
                    0.36,
                    0.43,
                    0.5,
                    0.57,
                    0.64,
                    0.71,
                    0.79,
                    0.86,
                    0.93,
                    1.0
                ],
                "bumperFront": 0.912,
                "bumperRear": 1.109,
                "centerOfMassHeight": 1.5,
                "centerOfMassToFrontAxle": 1.286,
                "centerOfMassToRearAxle": 1.564,
                "driveByWireTimeConstant": 0.26,
                "driveByWireTimeDelay": 0.11,
                "frontCorneringStiffness": 30654.0,
                "frontalArea": 1.0,
                "height": 1.473,
                "inertia": 1780.8,
                "length": 4.872,
                "mass": 1779.4,
                "maxEnginePower": 134000.0,
                "name": "ford fusion 2017",
                "rearCorneringStiffness": 36407.0,
                "rollingResistanceCoeff": 0.015,
                "steeringCoefficient": 14.8,
                "throttleActuatorTimeConstant": 1.0,
                "throttleForceOutput": [
                    0,
                    312,
                    623,
                    1086,
                    2646,
                    4272,
                    5370,
                    6052,
                    6363,
                    6556,
                    6730,
                    6905,
                    7092,
                    7283,
                    7473
                ],
                "throttleStateInput": [
                    0,
                    0.07,
                    0.14,
                    0.21,
                    0.29,
                    0.36,
                    0.43,
                    0.5,
                    0.57,
                    0.64,
                    0.71,
                    0.79,
                    0.86,
                    0.93,
                    1.0
                ],
                "wheelDiameter": 0.673,
                "wheelbase": 2.85,
                "width": 1.852,
                "widthWithMirrors": 2.121
            }
        }
    },
    "version": 2
}