diff --git a/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_half.param.yaml b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_half.param.yaml
new file mode 100644
index 00000000..21204bac
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/left_upper/point_filters_half.param.yaml
@@ -0,0 +1,38 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [11, 322, 336],[11, 354, 360],
+        [15, 143.95, 147.1],[15, 318, 360],
+        [19, 330, 360],
+        [23, 330, 360],
+        [31, 348, 360],
+        [45, 339, 360],
+        [59, 99, 101.5],[59, 330, 360],
+        [61, 330, 341],
+        [63, 330, 341],
+        [65, 330, 341],
+        [67, 330, 342],
+        [69, 330, 342],
+        [71, 331, 341],
+        [73, 316, 360],
+        [75, 318, 341],
+        [77, 318, 360],
+        [79, 315, 360],
+        [81, 318, 360],
+        [83, 318, 360],
+        [85, 319, 360],
+        [87, 320, 360],
+        [89, 322, 323],
+        [91, 287.55, 289.90],
+        [113, 305.68, 360],
+        [115, 307, 360],
+        [117, 303, 360],
+        [119, 302.09, 360],
+        [121, 90, 91],[121, 299.63, 360],
+        [123, 90, 92],[123, 298.42, 360],
+        [125, 90, 93],[125, 293, 360],
+        [127, 90, 93],[127, 289.71, 360]
+        ]
+      }
diff --git a/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_half.param.yaml b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_half.param.yaml
new file mode 100644
index 00000000..331cd15a
--- /dev/null
+++ b/aip_x2_gen2_launch/config/point_filters/right_upper/point_filters_half.param.yaml
@@ -0,0 +1,65 @@
+/**:
+  ros__parameters:
+    point_filters: |
+      {
+        "ring_section_filter": [
+        [1, 0, 15],
+        [3, 0, 15],
+        [17, 0, 10],
+        [19, 0, 10],
+        [21, 0, 10],
+        [23, 0, 10],
+        [25, 0, 10],
+        [27, 0, 10],
+        [29, 0, 10],
+        [31, 0, 15],
+        [33, 0, 10],
+        [35, 0, 10],
+        [37, 0, 10],
+        [39, 0, 10],
+        [41, 0, 10],
+        [43, 0, 10],
+        [45, 0, 25],
+        [47, 0, 25],
+        [49, 0, 26],
+        [51, 0, 40],
+        [53, 0, 40],
+        [55, 0, 40],
+        [57, 0, 45],
+        [59, 0, 45],
+        [61, 0, 40],
+        [63, 0, 35],
+        [65, 0, 35],
+        [67, 0, 40],[67, 269, 360],
+        [69, 0, 42],[69, 269, 360],
+        [71, 0, 44],[71, 269, 360],
+        [73, 0, 44],[73, 269, 360],
+        [75, 0, 44],[75, 269, 360],
+        [77, 0, 45],[77, 269, 360],
+        [79, 0, 45],[79, 269, 360],
+        [81, 0, 45],[81, 269, 360],
+        [83, 0, 45],[83, 269, 360],
+        [85, 0, 45],[85, 269, 360],
+        [87, 0, 45],[87, 269, 360],
+        [89, 0, 45],[89, 269, 360],
+        [91, 0, 45],[91, 269, 360],
+        [93, 0, 44],[93, 269, 360],
+        [95, 0, 44],[95, 269, 360],
+        [97, 0, 44],[97, 269, 360],
+        [99, 0, 44],[99, 269, 360],
+        [101, 0, 46],[101, 269, 360],
+        [103, 0, 44],[103, 269, 360],
+        [105, 0, 44],[105, 269, 360],
+        [107, 0, 44],[107, 269, 360],
+        [109, 0, 47],[109, 269, 360],
+        [111, 0, 49],[111, 269, 360],
+        [113, 0, 52],[113, 269, 360],
+        [115, 0, 54],[115, 269, 360],
+        [117, 0, 56],[117, 269, 360],
+        [119, 0, 58],[119, 269, 360],
+        [121, 0, 61],[121, 269, 360],
+        [123, 0, 66],[123, 268, 360],
+        [125, 0, 69],[125, 267, 360],
+        [127, 0, 72],[127, 267, 360]
+        ]
+      }