How are the transforms determined ?

[RaviBeagle]

Hello @jedeschaud ,

How are these fixed transforms are determined ? As I understand the (0,0,0) of a car is fixed to be the middle of the rear axle

 # Set sensors transformation from KITTI
            lidar_transform = carla.Transform(carla.Location(x=0, y=0, z=1.80), carla.Rotation(pitch=0, yaw=180, roll=0))
            cam0_transform = carla.Transform(carla.Location(x=0.30, y=0, z=1.70), carla.Rotation(pitch=0, yaw=0, roll=0))
            cam1_transform = carla.Transform(carla.Location(x=0.30, y=0.50, z=1.70), carla.Rotation(pitch=0, yaw=0, roll=0))


Atleast from the KITTI sensor setup diagram I cant seem to figure out how atleast the Location is decided from a CARLA left hand rule perspective..