{
  "vehicle": {
    "vehicle_id": "demo_agv_001",
    "vehicle_source": "urdf_direct",
    "source_urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
    "urdf_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/src/simulation/isaac_workshop_sim/assets/urdf/ackermann_front_steer_rear_drive.urdf",
    "usd_path": null,
    "stage_prim_path": "/ackermann_front_steer_rear_drive",
    "drive_wheels": [
      "rear_left_wheel_link",
      "rear_right_wheel_link"
    ],
    "steer_wheels": [
      "front_left_wheel_link",
      "front_right_wheel_link"
    ],
    "initial_pose": {
      "x_m": 0.0,
      "y_m": 0.0,
      "z_m": 0.0,
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    "room_length_m": 10.0,
    "room_width_m": 6.0,
    "room_height_m": 3.5,
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      "cols": 9,
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      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/checkerboard.png",
      "reserved_wall_zones": {
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          {
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            "axis_max": -0.9199999999999999,
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            "z_max": 3.5,
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        ],
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          {
            "axis_min": 2.9200000000000004,
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            "z_max": 3.5,
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          }
        ]
      },
      "layout": [
        {
          "id": "front_wall_r00_c01",
          "wall": "front",
          "mount": "flush",
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          "position": [
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        {
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          "wall": "front",
          "mount": "flush",
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          "position": [
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            90
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        },
        {
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          "wall": "front",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
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            90
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        {
          "id": "front_wall_r01_c02",
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          "position": [
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        },
        {
          "id": "back_wall_r00_c00",
          "wall": "back",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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            1.2100000000000002
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          "rotation_deg": [
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            -90
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        },
        {
          "id": "back_wall_r00_c01",
          "wall": "back",
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        },
        {
          "id": "back_wall_r00_c02",
          "wall": "back",
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          "purpose": "wall_checkerboard_array",
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        },
        {
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          "wall": "back",
          "mount": "flush",
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          "rotation_deg": [
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            0,
            -90
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        },
        {
          "id": "back_wall_r01_c01",
          "wall": "back",
          "mount": "flush",
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          "rotation_deg": [
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        },
        {
          "id": "back_wall_r01_c02",
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          "rotation_deg": [
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        },
        {
          "id": "left_wall_r00_c00",
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          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
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            0
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        },
        {
          "id": "left_wall_r00_c01",
          "wall": "left",
          "mount": "flush",
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        {
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          "mount": "flush",
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          "position": [
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          "rotation_deg": [
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            0
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        },
        {
          "id": "left_wall_r00_c03",
          "wall": "left",
          "mount": "flush",
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          "position": [
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          ],
          "rotation_deg": [
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            0
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        },
        {
          "id": "left_wall_r00_c04",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
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            0
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        },
        {
          "id": "left_wall_r00_c05",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
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            0
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        },
        {
          "id": "left_wall_r01_c00",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          ],
          "rotation_deg": [
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            0,
            0
          ]
        },
        {
          "id": "left_wall_r01_c01",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          ],
          "rotation_deg": [
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            0,
            0
          ]
        },
        {
          "id": "left_wall_r01_c02",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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            2.985,
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          ],
          "rotation_deg": [
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            0,
            0
          ]
        },
        {
          "id": "left_wall_r01_c03",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
            0.75,
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            2.33
          ],
          "rotation_deg": [
            90,
            0,
            0
          ]
        },
        {
          "id": "left_wall_r01_c04",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
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            0,
            0
          ]
        },
        {
          "id": "left_wall_r01_c05",
          "wall": "left",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          ],
          "rotation_deg": [
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            0,
            0
          ]
        },
        {
          "id": "right_wall_r00_c00",
          "wall": "right",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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            1.2100000000000002
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          "rotation_deg": [
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            0,
            180
          ]
        },
        {
          "id": "right_wall_r00_c01",
          "wall": "right",
          "mount": "flush",
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          "position": [
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          "rotation_deg": [
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            180
          ]
        },
        {
          "id": "right_wall_r00_c02",
          "wall": "right",
          "mount": "flush",
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          "position": [
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          "rotation_deg": [
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        },
        {
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          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
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            0,
            180
          ]
        },
        {
          "id": "right_wall_r00_c04",
          "wall": "right",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
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            0,
            180
          ]
        },
        {
          "id": "right_wall_r01_c00",
          "wall": "right",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
            90,
            0,
            180
          ]
        },
        {
          "id": "right_wall_r01_c01",
          "wall": "right",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
            90,
            0,
            180
          ]
        },
        {
          "id": "right_wall_r01_c02",
          "wall": "right",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          "rotation_deg": [
            90,
            0,
            180
          ]
        },
        {
          "id": "right_wall_r01_c03",
          "wall": "right",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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          ],
          "rotation_deg": [
            90,
            0,
            180
          ]
        },
        {
          "id": "right_wall_r01_c04",
          "wall": "right",
          "mount": "flush",
          "purpose": "wall_checkerboard_array",
          "position": [
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            2.33
          ],
          "rotation_deg": [
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            0,
            180
          ]
        }
      ]
    },
    "down_camera_intrinsic_target": {
      "enabled": true,
      "texture_path": "/home/nvidia/study/AutoCalib-Workshop/agv_calib_brain/.isaac_cache/down_camera_charuco.png",
      "pattern": "charuco",
      "squares_x": 30,
      "squares_y": 10,
      "square_size_x_m": 0.09000000000000001,
      "square_size_y_m": 0.09,
      "layout": [
        {
          "id": "down_camera_3d_charuco_ramp",
          "target_type": "down_camera_intrinsic",
          "pattern": "charuco",
          "purpose": "intrinsic_calibration_with_depth_and_pose_gradient",
          "center": [
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            -2.15,
            0.028499999999999998
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          "length_m": 2.7,
          "width_m": 0.9,
          "squares_x": 30,
          "squares_y": 10,
          "square_size_m": 0.09,
          "min_height_m": 0.012,
          "max_height_m": 0.045,
          "recommended_drive_axis": "+x",
          "recommended_speed_mps": 0.1,
          "surfaces": [
            {
              "id": "low_flat_charuco",
              "type": "flat",
              "x_range_m": [
                -1.35,
                -0.756
              ],
              "z_range_m": [
                0.012,
                0.012
              ]
            },
            {
              "id": "continuous_slope_charuco",
              "type": "continuous_slope",
              "x_range_m": [
                -0.756,
                0.6479999999999999
              ],
              "z_range_m": [
                0.012,
                0.045
              ]
            },
            {
              "id": "high_flat_charuco",
              "type": "flat",
              "x_range_m": [
                0.6479999999999999,
                1.35
              ],
              "z_range_m": [
                0.045,
                0.045
              ]
            }
          ]
        }
      ]
    }
  },
  "ros_topics": {
    "cmd_vel": "/cmd_vel",
    "camera_image": "/AutoCalib_Workshop/camera/image_raw",
    "lidar_prefix": "/AutoCalib_Workshop/lidar",
    "front_camera_image": "/sensor/front_camera/image_raw",
    "down_camera_image": "/sensor/down_camera/image_raw",
    "lidar_3d_pointcloud": "/sensor/lidar_3d/pointcloud",
    "lidar_2d_scan": "/sensor/lidar_2d/scan",
    "imu": "/sensor/imu/data",
    "external_telemetry": "/isaac/external_localization/telemetry",
    "chassis_telemetry": "/chassis/telemetry",
    "control_telemetry": "/control/telemetry",
    "sensor_telemetry": "/sensor_calibration/telemetry"
  },
  "chassis_calibration": {
    "chassis_type": "ackermann",
    "straight_track_length_m": 5.0,
    "straight_track_width_m": 0.7,
    "arc_track_radius_m": 1.6,
    "wheel_radius_m": 0.1,
    "wheel_track_m": 0.52,
    "wheel_base_m": 0.8
  },
  "control_calibration": {
    "reference_path": [
      {
        "x_m": -2.5,
        "y_m": 0.0,
        "yaw_rad": 0.0,
        "target_speed_ms": 0.3
      },
      {
        "x_m": 2.5,
        "y_m": 0.0,
        "yaw_rad": 0.0,
        "target_speed_ms": 0.3
      }
    ],
    "parameter_version": "isaac_control_baseline_v1"
  },
  "external_truth": {
    "localization_source_id": "isaac_sim_truth_source",
    "reference_source_name": "isaac_sim_truth_source",
    "workcell_zone_id": "isaac_workcell_zone_a",
    "expected_position_stddev_m": 0.01,
    "expected_yaw_stddev_rad": 0.01,
    "expected_time_sync_offset_ms": 2.0
  },
  "sensors": [
    {
      "sensor_id": "demo_front_camera",
      "sensor_type": "front_camera",
      "frame_id": "front_camera_link",
      "image_topic": "/sensor/front_camera/image_raw",
      "telemetry_topic": "/sensor_calibration/telemetry",
      "mount_pose": {
        "x_m": 1.12,
        "y_m": 0.0,
        "z_m": 1.18,
        "roll_rad": 1.5707963267948966,
        "pitch_rad": 0.0,
        "yaw_rad": -1.5707963267948966
      }
    },
    {
      "sensor_id": "demo_down_camera",
      "sensor_type": "down_camera",
      "frame_id": "down_camera_link",
      "image_topic": "/sensor/down_camera/image_raw",
      "mount_pose": {
        "x_m": 0.4,
        "y_m": 0.0,
        "z_m": 0.2,
        "roll_rad": 0.0,
        "pitch_rad": 0.0,
        "yaw_rad": 0.0
      }
    },
    {
      "sensor_id": "demo_lidar_3d",
      "sensor_type": "lidar_3d",
      "frame_id": "lidar_3d_link",
      "pointcloud_topic": "/sensor/lidar_3d/pointcloud",
      "mount_pose": {
        "x_m": 0.55,
        "y_m": 0.0,
        "z_m": 1.2,
        "roll_rad": 0.0,
        "pitch_rad": 0.0,
        "yaw_rad": 0.0
      }
    },
    {
      "sensor_id": "demo_lidar_2d",
      "sensor_type": "lidar_2d",
      "frame_id": "lidar_2d_link",
      "scan_topic": "/sensor/lidar_2d/scan",
      "mount_pose": {
        "x_m": 0.7,
        "y_m": 0.0,
        "z_m": 1.0,
        "roll_rad": 0.0,
        "pitch_rad": 0.0,
        "yaw_rad": 0.0
      }
    },
    {
      "sensor_id": "demo_imu",
      "sensor_type": "imu",
      "frame_id": "imu_link",
      "imu_topic": "/sensor/imu/data",
      "mount_pose": {
        "x_m": 0.4,
        "y_m": 0.0,
        "z_m": 0.26,
        "roll_rad": 0.0,
        "pitch_rad": 0.0,
        "yaw_rad": 0.0
      }
    }
  ],
  "lidar_2d_calibration_targets": {
    "enabled": true,
    "target_width_m": 0.82,
    "target_height_m": 1.6,
    "target_thickness_m": 0.04,
    "target_bottom_z_m": 0.08,
    "slope_angle_deg": 45.0,
    "targets": [
      {
        "id": "front_vertical_reference_panel",
        "wall": "front",
        "type": "vertical_reference",
        "position": [
          4.920000000000001,
          -2.34,
          0.88
        ],
        "scale": [
          0.04,
          0.82,
          1.6
        ],
        "rotation_deg": [
          0.0,
          0.0,
          0.0
        ],
        "nominal_plane": "x = room_length/2 - standoff - thickness"
      },
      {
        "id": "front_45deg_height_encoding_panel",
        "wall": "front",
        "type": "height_encoding_slope",
        "position": [
          4.1000000000000005,
          -1.4,
          0.88
        ],
        "scale": [
          0.04,
          0.82,
          2.262741699796952
        ],
        "rotation_deg": [
          0.0,
          -45.0,
          0.0
        ],
        "slope_angle_deg": 45.0,
        "height_to_range_sign": "higher_scan_plane_farther_from_front_wall"
      },
      {
        "id": "right_vertical_reference_panel",
        "wall": "right",
        "type": "vertical_reference",
        "position": [
          3.87,
          -2.92,
          0.88
        ],
        "scale": [
          0.82,
          0.04,
          1.6
        ],
        "rotation_deg": [
          0.0,
          0.0,
          0.0
        ],
        "nominal_plane": "y = -room_width/2 + standoff + thickness"
      }
    ]
  },
  "orchestrator_session_config_hint": {
    "vehicle_id": "demo_agv_001",
    "localization_source_id": "isaac_sim_truth_source",
    "workcell_zone_id": "isaac_workcell_zone_a",
    "reference_target_id": "isaac_external_truth"
  }
}
