Repository: bradyz/2020_CARLA_challenge Branch: master Commit: fd82c36660ee Files: 477 Total size: 132.8 KB Directory structure: gitextract_t8a717dh/ ├── .gitmodules ├── README.md ├── run_agent.sh ├── sample_data/ │ └── route_00/ │ └── measurements/ │ ├── 0000.json │ ├── 0001.json │ ├── 0002.json │ ├── 0003.json │ ├── 0004.json │ ├── 0005.json │ ├── 0006.json │ ├── 0007.json │ ├── 0008.json │ ├── 0009.json │ ├── 0010.json │ ├── 0011.json │ ├── 0012.json │ ├── 0013.json │ ├── 0014.json │ ├── 0015.json │ ├── 0016.json │ ├── 0017.json │ ├── 0018.json │ ├── 0019.json │ ├── 0020.json │ ├── 0021.json │ ├── 0022.json │ ├── 0023.json │ ├── 0024.json │ ├── 0025.json │ ├── 0026.json │ ├── 0027.json │ ├── 0028.json │ ├── 0029.json │ ├── 0030.json │ ├── 0031.json │ ├── 0032.json │ ├── 0033.json │ ├── 0034.json │ ├── 0035.json │ ├── 0036.json │ ├── 0037.json │ ├── 0038.json │ ├── 0039.json │ ├── 0040.json │ ├── 0041.json │ ├── 0042.json │ ├── 0043.json │ ├── 0044.json │ ├── 0045.json │ ├── 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================================================ ================================================ FILE: .gitmodules ================================================ [submodule "leaderboard"] path = leaderboard url = https://github.com/bradyz/leaderboard.git [submodule "scenario_runner"] path = scenario_runner url = https://github.com/bradyz/scenario_runner.git [submodule "carla_project"] path = carla_project url = https://github.com/bradyz/carla_project.git ================================================ FILE: README.md ================================================ # Learning by Cheating ![teaser](https://github.com/dianchen96/LearningByCheating/blob/release-0.9.6/figs/fig1.png "Pipeline") > [**Learning by Cheating**](https://arxiv.org/abs/1912.12294) > Dian Chen, Brady Zhou, Vladlen Koltun, Philipp Krähenbühl, > [Conference on Robot Learning](https://www.robot-learning.org) (CoRL 2019) > _arXiv 1912.12294_ If you find our repo to be useful in your research, please consider citing our work ``` @inproceedings{chen2019lbc author = {Dian Chen and Brady Zhou and Vladlen Koltun and Philipp Kr\"ahenb\"uhl}, title = {Learning by Cheating}, booktitle = {Conference on Robot Learning (CoRL)}, year = {2019}, } ``` The code in this repo is based off of [link](https://github.com/dianchen96/LearningByCheating), which contains the code for the NoCrash and CoRL 17 benchmarks. ## Installation Clone this repo with all its submodules ```bash git clone https://github.com/bradyz/2020_CARLA_challenge.git --recursive ``` All python packages used are specified in `carla_project/requirements.txt`. This code uses CARLA 0.9.9 and works with CARLA 0.9.8, **0.9.10.1**. You will also need to install CARLA 0.9.10.1, along with the additional maps. See [link](https://github.com/carla-simulator/carla/releases/tag/0.9.10.1) for more instructions. ## Dataset We provide a dataset of over 70k samples collected over the 75 routes provided in `leaderboard/data/routes_*.xml`. [Link to full dataset (9 GB)](https://drive.google.com/file/d/1dwt9_EvXB1a6ihlMVMyYx0Bw0mN27SLy/view?usp=sharing). ![sample](assets/sample_route.gif) The dataset is collected using `leaderboard/team_code/autopilot.py`, using painfully hand-designed rules (i.e. if pedestrian is 5 meters ahead, then brake). Additionally, we change the weather for a single route once every couple of seconds to add visual diversity as a sort of on-the-fly augmentation. The simulator is run at 20 FPS, and we save the following data at 2 Hz. * Left, Center, and Right RGB Images at 256 x 144 resolution * A semantic segmentation rendered in the overhead view * World position and heading * Raw control (steer, throttle, brake) Note: the overhead view does nothing to address obstructions, like overhead highways, etc. We provide a sample trajectory in `sample_data`, which you can visualize by running ``` python3 -m carla_project.src.dataset sample_data/route_00/ ``` ## Data Collection The autopilot that we used to collect the data can use a lot of work and currently does not support stop signs. If you're interested in recollecting data after changing the autopilot's driving behavior in `leaderboard/team_code/autopilot.py`, you can collect your own dataset by running the following. First, spin up a CARLA server ```bash ./CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -opengl ``` then run the agent. ```bash export CARLA_ROOT=/home/bradyzhou/software/CARLA_0.9.10.1 # change to where you installed CARLA export PORT=2000 # change to port that CARLA is running on export ROUTES=leaderboard/data/routes_training/route_19.xml # change to desired route export TEAM_AGENT=auto_pilot.py # no need to change export TEAM_CONFIG=sample_data # change path to save data ./run_agent.sh ``` ## Run a pretrained model Download the checkpoint from our [Wandb project](https://app.wandb.ai/bradyz/2020_carla_challenge_lbc). Navigate to one of the runs, like https://app.wandb.ai/bradyz/2020_carla_challenge_lbc/runs/command_coefficient=0.01_sample_by=even_stage2/files Go to the "files" tab, and download the model weights, named "epoch=24.ckpt", and pass in the file path as the `TEAM_CONFIG` below. Spin up a CARLA server ```bash ./CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -opengl ``` then run the agent. ```bash export CARLA_ROOT=/home/bradyzhou/software/CARLA_0.9.10.1 # change to where you installed CARLA export PORT=2000 # change to port that CARLA is running on export ROUTES=leaderboard/data/routes_training/route_19.xml # change to desired route export TEAM_AGENT=image_agent.py # no need to change export TEAM_CONFIG=model.ckpt # change path to checkpoint export HAS_DISPLAY=1 # set to 0 if you don't want a debug window ./run_agent.sh ``` ## Training models from scratch First, download and extract our provided dataset. Then run the stage 1 training of the privileged agent. ```python python3 -m carla_project.src.map_model --dataset_dir /path/to/data --hack ``` We use wandb for logging, so navigate to the generated experiment page to visualize training. **Important**: If you're interested in tuning hyperparameters, see `carla_project/src/map_model.py` for more detail. To see what hyperparameters we used for our models, you can see all of them by navigating to the corresponding [wandb run config](https://wandb.ai/bradyz/2020_carla_challenge_lbc/runs/command_coefficient=0.01_sample_by=even_stage2/overview). ![sample](assets/stage_1.gif) Training the sensorimotor agent (acts only on raw images) is similar, and can be done by ```python python3 -m carla_project.src.image_model --dataset_dir /path/to/data ``` ## Docker Build the docker container to submit, make sure to edit `scripts/Dockerfile.master` appropriately. ```bash sudo ./scripts/make_docker.sh ``` Spin up a CARLA server ```bash ./CarlaUE4.sh -quality-level=Epic -world-port=2000 -resx=800 -resy=600 -opengl ``` Now you can either run the docker container or run it interactively. To run the docker container, ```bash sudo docker run --net=host --gpus all -e NVIDIA_VISIBLE_DEVICES=0 -e REPETITIONS=1 -e DEBUG_CHALLENGE=0 -e PORT=2000 -e ROUTES=leaderboard/data/routes_devtest.xml -e CHECKPOINT_ENDPOINT=tmp.txt -e SCENARIOS=leaderboard/data/all_towns_traffic_scenarios_public.json leaderboard-user:latest ./leaderboard/scripts/run_evaluation.sh ``` Or if you need to debug something, you can run it interactively ```bash sudo docker run --net=host --gpus all -it leaderboard-user:latest /bin/bash ``` Run the evaluation through the interactive shell. ```bash export PORT=2000 export DEBUG_CHALLENGE=0 export REPETITIONS=1 export ROUTES=leaderboard/data/routes_devtest/route_00.xml # change to desired route export CHECKPOINT_ENDPOINT=tmp.txt export SCENARIOS=leaderboard/data/all_towns_traffic_scenarios_public.json conda activate python37 ./leaderboard/scripts/run_evaluation.sh ``` ================================================ FILE: run_agent.sh ================================================ #!/bin/bash export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla export PYTHONPATH=$PYTHONPATH:$CARLA_ROOT/PythonAPI/carla/dist/carla-0.9.10-py3.7-linux-x86_64.egg export PYTHONPATH=$PYTHONPATH:leaderboard export PYTHONPATH=$PYTHONPATH:leaderboard/team_code export PYTHONPATH=$PYTHONPATH:scenario_runner if [ -d "$TEAM_CONFIG" ]; then CHECKPOINT_ENDPOINT="$TEAM_CONFIG/$(basename $ROUTES .xml).txt" else CHECKPOINT_ENDPOINT="$(dirname $TEAM_CONFIG)/$(basename $ROUTES .xml).txt" fi python3 leaderboard/leaderboard/leaderboard_evaluator.py \ --track=SENSORS \ --scenarios=leaderboard/data/all_towns_traffic_scenarios_public.json \ --agent=${TEAM_AGENT} \ --agent-config=${TEAM_CONFIG} \ --routes=${ROUTES} \ --checkpoint=${CHECKPOINT_ENDPOINT} \ --port=${PORT} echo "Done. See $CHECKPOINT_ENDPOINT for detailed results." ================================================ FILE: sample_data/route_00/measurements/0000.json ================================================ {'x': -226.46817199206743, 'y': 338.76315306981644, 'theta': 0.0005980199784971774, 'speed': 3.3797341881785896e-08, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0001.json ================================================ {'x': -226.46817199206743, 'y': 338.76315306981644, 'theta': 0.0005980199784971774, 'speed': 3.352230199313333e-08, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0002.json ================================================ {'x': -226.46817199206743, 'y': 338.76315306981644, 'theta': 0.0005980199784971774, 'speed': -4.4254745117890757e-08, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0003.json ================================================ {'x': -226.3955796335324, 'y': 338.76315306981644, 'theta': 0.0009134905994869769, 'speed': 1.1073648751585912, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': -0.0, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0004.json ================================================ {'x': -225.19018341192762, 'y': 338.7655334409221, 'theta': 0.0013372133253142238, 'speed': 3.2242275164501613, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': -0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0005.json ================================================ {'x': -223.24619833424183, 'y': 338.7608947689973, 'theta': 6.2812323570251465, 'speed': 4.484101990680977, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0006.json ================================================ {'x': -220.7225743557678, 'y': 338.75619506205896, 'theta': 6.282495021820068, 'speed': 5.548496461942215, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0007.json ================================================ {'x': -218.01816523498735, 'y': 338.7507018979989, 'theta': 6.275488376617432, 'speed': 3.7197551879255757, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0055, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0008.json ================================================ {'x': -217.50249628750353, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -0.01753278274022307, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.007, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0009.json ================================================ {'x': -217.49488150422113, 'y': 338.7487182553244, 'theta': 6.275613307952881, 'speed': -0.0041927202363261145, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0075, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0010.json ================================================ {'x': -217.4941337571747, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -0.00022642588155692982, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.008, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0011.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -3.757994374547926e-05, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0012.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -1.9669654469562847e-06, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0013.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -7.362043902331187e-07, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0014.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -7.33916745849816e-08, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0015.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -4.7163590824656944e-08, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0016.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -2.6494531292559518e-08, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0017.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -4.812141621617573e-09, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0018.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -9.20385336979367e-09, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0019.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': 2.3740653472839056e-08, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0020.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -1.128490337153138e-08, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0021.json ================================================ {'x': -217.4940421994759, 'y': 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================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': 1.5888131301566665e-09, 'target_speed': 0.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.0085, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0027.json ================================================ {'x': -217.4940421994759, 'y': 338.7487182553244, 'theta': 6.275605201721191, 'speed': -7.710912178132837e-10, 'target_speed': 7.0, 'x_command': -209.17174534259908, 'y_command': 338.77359008151757, 'command': 4, 'steer': 0.017, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0028.json ================================================ {'x': -217.40336675088193, 'y': 338.7483215268933, 'theta': 6.277693748474121, 'speed': 0.6541252962001288, 'target_speed': 7.0, 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FILE: sample_data/route_00/measurements/0031.json ================================================ {'x': -212.65488701192297, 'y': 338.77636718118407, 'theta': 0.003068801248446107, 'speed': 5.034492407600175, 'target_speed': 7.0, 'x_command': -195.17150706875657, 'y_command': 325.6698608337601, 'command': 1, 'steer': -0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0032.json ================================================ {'x': -209.88883114681377, 'y': 338.77774047216667, 'theta': 6.282840251922607, 'speed': 5.921043552742379, 'target_speed': 7.0, 'x_command': -195.17150706875657, 'y_command': 325.6698608337601, 'command': 1, 'steer': -0.0, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0033.json ================================================ {'x': -206.7336451425754, 'y': 338.755340569794, 'theta': 6.2716875076293945, 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================================================ FILE: sample_data/route_00/measurements/0036.json ================================================ {'x': -200.01037231674124, 'y': 336.9641418394371, 'theta': 5.7929887771606445, 'speed': 3.7377661931867494, 'target_speed': 4, 'x_command': -195.17150706875657, 'y_command': 325.6698608337601, 'command': 1, 'steer': -0.304, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0037.json ================================================ {'x': -198.4463404440709, 'y': 335.59963988622053, 'theta': 5.569595813751221, 'speed': 4.066008420103172, 'target_speed': 4, 'x_command': -195.17150706875657, 'y_command': 325.6698608337601, 'command': 1, 'steer': -0.336, 'throttle': 0.03894301873516179, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0038.json ================================================ {'x': -197.3570944102813, 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================================================ {'x': -195.3876958839083, 'y': 323.58383178101616, 'theta': 4.739457130432129, 'speed': 5.813607601272365, 'target_speed': 7.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': -0.019, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0044.json ================================================ {'x': -195.33910795622518, 'y': 320.4721679627677, 'theta': 4.729913234710693, 'speed': 6.584968162402411, 'target_speed': 7.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': 0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0045.json ================================================ {'x': -195.26576826196833, 'y': 316.99462890034084, 'theta': 4.734169960021973, 'speed': 7.108481432241087, 'target_speed': 7.0, 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================================================ FILE: sample_data/route_00/measurements/0048.json ================================================ {'x': -195.17961014500037, 'y': 312.6420288027201, 'theta': 4.731605529785156, 'speed': -0.008093485756507148, 'target_speed': 0.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': -0.009, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0049.json ================================================ {'x': -195.1795643614049, 'y': 312.64031981831994, 'theta': 4.7316060066223145, 'speed': -0.0003564082722736302, 'target_speed': 0.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': -0.0105, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0050.json ================================================ {'x': -195.17954910442515, 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================================================ {'x': -195.19644195705592, 'y': 303.5168456973932, 'theta': 4.712689399719238, 'speed': 6.340958967451142, 'target_speed': 7.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': 0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0056.json ================================================ {'x': -195.18347093290672, 'y': 300.1411437931435, 'theta': 4.715156555175781, 'speed': 7.127641958841397, 'target_speed': 7.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': 0.002, 'throttle': 0.11313893305058835, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0057.json ================================================ {'x': -195.1735519153703, 'y': 296.7454833928997, 'theta': 4.71572732925415, 'speed': 6.218707295353548, 'target_speed': 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================================================ FILE: sample_data/route_00/measurements/0060.json ================================================ {'x': -195.18362353434478, 'y': 286.9061584418057, 'theta': 4.710579872131348, 'speed': 6.254462762165091, 'target_speed': 7.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': 0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0061.json ================================================ {'x': -195.19216914843085, 'y': 283.85797118602886, 'theta': 4.710286617279053, 'speed': 6.17986315384307, 'target_speed': 7.0, 'x_command': -195.16728004056293, 'y_command': 273.66986083462854, 'command': 4, 'steer': 0.008, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0062.json ================================================ {'x': -195.18414237290608, 'y': 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================================================ {'x': -195.1821585700316, 'y': 264.25585937008145, 'theta': 4.707123756408691, 'speed': 5.88303193756274, 'target_speed': 7.0, 'x_command': -195.1630530155333, 'y_command': 221.66987609447742, 'command': 4, 'steer': 0.007, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0068.json ================================================ {'x': -195.19459549231166, 'y': 261.1773986767663, 'theta': 4.711673736572266, 'speed': 6.50985355324941, 'target_speed': 7.0, 'x_command': -195.1630530155333, 'y_command': 221.66987609447742, 'command': 4, 'steer': 0.007, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0069.json ================================================ {'x': -195.1737350339319, 'y': 257.70727538580104, 'theta': 4.717020511627197, 'speed': 7.1419881266734295, 'target_speed': 7.0, 'x_command': 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sample_data/route_00/measurements/0072.json ================================================ {'x': -195.1528593185724, 'y': 247.87915038595818, 'theta': 4.7109246253967285, 'speed': 7.163644773112906, 'target_speed': 7.0, 'x_command': -195.1630530155333, 'y_command': 221.66987609447742, 'command': 4, 'steer': -0.003, 'throttle': 0.07998064146388115, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0073.json ================================================ {'x': -195.17129342990734, 'y': 244.60955810082118, 'theta': 4.705924987792969, 'speed': 6.048345613772617, 'target_speed': 7.0, 'x_command': -195.1630530155333, 'y_command': 221.66987609447742, 'command': 4, 'steer': 0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0074.json ================================================ {'x': -195.18034262873897, 'y': 241.5473632766848, 'theta': 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FILE: sample_data/route_00/measurements/0084.json ================================================ {'x': -195.14800663081084, 'y': 208.86616515719126, 'theta': 4.712380886077881, 'speed': 6.819333176189752, 'target_speed': 7.0, 'x_command': -195.15882598733967, 'y_command': 169.6698760953459, 'command': 4, 'steer': -0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0085.json ================================================ {'x': -195.1467705654907, 'y': 205.35742187109685, 'theta': 4.712234973907471, 'speed': 6.731401685903765, 'target_speed': 7.0, 'x_command': -195.15882598733967, 'y_command': 169.6698760953459, 'command': 4, 'steer': -0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0086.json ================================================ {'x': -195.17475745407475, 'y': 202.27433776470755, 'theta': 4.702927112579346, 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================================================ {'x': -195.14342861930967, 'y': 169.7507934538282, 'theta': 4.713472366333008, 'speed': 6.30618984123666, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0097.json ================================================ {'x': -195.1455345033346, 'y': 166.38549804370797, 'theta': 4.711695194244385, 'speed': 7.124671822783743, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.08754077764428239, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0098.json ================================================ {'x': -195.1438864204598, 'y': 162.9843292205535, 'theta': 4.711997985839844, 'speed': 6.208372937113553, 'target_speed': 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sample_data/route_00/measurements/0101.json ================================================ {'x': -195.16128285150808, 'y': 155.47515868850317, 'theta': 4.710039138793945, 'speed': 4.512623099901867, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': 0.0015, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0102.json ================================================ {'x': -195.1617864330896, 'y': 153.79359435736546, 'theta': 4.711198329925537, 'speed': 3.278160285076825, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': 0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0103.json ================================================ {'x': -195.16125233122045, 'y': 152.0566406220529, 'theta': 4.71197509765625, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0106.json ================================================ {'x': -195.15827662849074, 'y': 150.29904174519015, 'theta': 4.711772441864014, 'speed': 2.0001406758782507, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': 0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0107.json ================================================ {'x': -195.15878020690823, 'y': 148.9200897188903, 'theta': 4.7123565673828125, 'speed': 3.41263059427285, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': 0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0108.json ================================================ {'x': -195.16293093438287, 'y': 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'command': 4, 'steer': -0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0116.json ================================================ {'x': -195.1467553053469, 'y': 140.16195678444393, 'theta': 4.714345932006836, 'speed': 2.237467422772166, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0117.json ================================================ {'x': -195.14382537988456, 'y': 138.80262756085023, 'theta': 4.7150559425354, 'speed': 3.5615351465002183, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0118.json ================================================ {'x': -195.14139903600378, 'y': 137.5746002171294, 'theta': 4.714478969573975, 'speed': 0.6319486037638588, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0119.json ================================================ {'x': -195.14139903600378, 'y': 137.55735778539915, 'theta': 4.714473724365234, 'speed': -0.008689943100695598, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0120.json ================================================ {'x': -195.14139903600378, 'y': 137.55526733141852, 'theta': 4.714473724365234, 'speed': -0.0006202991844464668, 'target_speed': 0.0, 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FILE: sample_data/route_00/measurements/0123.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -6.390318394590731e-07, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0124.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -1.0485686498456691e-07, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0125.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 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================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -1.1553804322405632e-08, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0136.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -1.1700640898411334e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0137.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -4.28471302974006e-09, 'target_speed': 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FILE: sample_data/route_00/measurements/0140.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 3.888619567587629e-10, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0141.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 9.123445368471963e-10, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0142.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 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================================================ FILE: sample_data/route_00/measurements/0145.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -3.762781982794821e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0146.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 1.3029902013345597e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0147.json ================================================ {'x': -195.14139903600378, 'y': 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================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 1.1283204452259392e-08, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0153.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -2.1403726035551547e-08, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0154.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -4.812267733074147e-09, 'target_speed': 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sample_data/route_00/measurements/0157.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -3.878882629104284e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0158.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -1.29114618806453e-10, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0159.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0162.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 6.429181798507103e-10, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0163.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -1.5514730867598508e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0164.json ================================================ {'x': -195.14139903600378, 'y': 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'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0167.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -4.282723230727353e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0168.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 2.623526725748135e-10, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0169.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -1.3023341868968237e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0170.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 2.1669895014847367e-08, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0171.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 1.5605901409540677e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0172.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': 4.153256302945403e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0173.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -2.2068204546969993e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0174.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -1.8196621512656707e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0175.json ================================================ {'x': -195.14139903600378, 'y': 137.55517577857393, 'theta': 4.714473724365234, 'speed': -2.4661399615341973e-09, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0176.json ================================================ {'x': -195.14139903600378, 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================================================ {'x': -195.160275688345, 'y': 132.59045409905247, 'theta': 4.709442138671875, 'speed': 3.1352498639789412, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': 0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0182.json ================================================ {'x': -195.16311405294448, 'y': 130.9216155981364, 'theta': 4.710413932800293, 'speed': 3.763884358377008, 'target_speed': 0.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': 0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0183.json ================================================ {'x': -195.16770732458946, 'y': 129.53950500245986, 'theta': 4.709458351135254, 'speed': 1.1469278290282494, 'target_speed': 0.0, 'x_command': 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sample_data/route_00/measurements/0186.json ================================================ {'x': -195.16218319366448, 'y': 127.28100585689948, 'theta': 4.714288711547852, 'speed': 3.6373156162944915, 'target_speed': 7.0, 'x_command': -195.1546142192898, 'y_command': 117.6698760963441, 'command': 4, 'steer': 0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0187.json ================================================ {'x': -195.1597873700713, 'y': 124.90357970954933, 'theta': 4.713567733764648, 'speed': 4.826375021519734, 'target_speed': 7.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': 0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0188.json ================================================ {'x': -195.15806298331344, 'y': 122.34264373547985, 'theta': 4.711784362792969, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0191.json ================================================ {'x': -195.14532086132132, 'y': 117.58937835463378, 'theta': 4.714024543762207, 'speed': -0.0016020646540395613, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0192.json ================================================ {'x': -195.14535138477297, 'y': 117.58280181658645, 'theta': 4.714029788970947, 'speed': -0.00466008109692159, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0193.json ================================================ {'x': -195.14535138477297, 'y': 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4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0196.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -5.117901987527098e-07, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0197.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -7.199224789674852e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0198.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -4.418071362846362e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0199.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 8.042225715967714e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0200.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -3.852659089430355e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0201.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 8.04685744637643e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0202.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.0411180225845567e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0203.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -5.45369267496954e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0204.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -1.5388166995076026e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0205.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 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================================================ FILE: sample_data/route_00/measurements/0208.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -2.6614794552914553e-10, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0209.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 4.2756549455365285e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0210.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 3.182271441484488e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0211.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 8.293930889077733e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0212.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -6.516292425979103e-10, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0213.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -6.2350436815889e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0214.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -1.5423963232131607e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0215.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.9284553908224575e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0216.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -5.712688384007086e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0217.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 3.29847715419411e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0218.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -6.280189341891427e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0219.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 8.04124325790718e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0220.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -9.468476629272409e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0221.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -3.6335222221644132e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0222.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -6.512448299840967e-10, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0223.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -7.116682723302457e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0224.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.0897726764800614e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0225.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -9.246379375211697e-10, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0226.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.6861217744685276e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0227.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 8.045271067775593e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0228.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 2.8469930704728095e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0229.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.0898685778103903e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0230.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 6.451980874235589e-10, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0231.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.711076262948709e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0232.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 6.292518638995331e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0233.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -7.771372353949728e-10, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0234.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 9.081714701965771e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0235.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -3.796307620606791e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0236.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.426071315480525e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0237.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.1711355345651116e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0238.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -7.817070192329329e-10, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0239.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -3.036086101950086e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0240.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 2.1915763703673176e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0241.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 6.4957480534492636e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0242.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 3.1839347151447624e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0243.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -4.417703937711075e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0244.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -1.3642658486397598e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0245.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -2.982513244818264e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0246.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 3.7127101901497346e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0247.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.0618134878993647e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0248.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -2.090449992030525e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0249.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -2.5860563099840023e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0250.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -7.397976670202226e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0251.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -1.053986205292341e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0252.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -8.402862315620272e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0253.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -1.8189275031379265e-09, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0254.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': 1.0637758903027402e-08, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0255.json ================================================ {'x': -195.14535138477297, 'y': 117.58189391866846, 'theta': 4.714029788970947, 'speed': -7.129831032316007e-09, 'target_speed': 7.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0256.json ================================================ {'x': -195.1451072224721, 'y': 117.52309417492397, 'theta': 4.713415145874023, 'speed': 0.40749528740278307, 'target_speed': 7.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0257.json ================================================ {'x': -195.1466332273605, 'y': 116.7906341530593, 'theta': 4.711550235748291, 'speed': 2.225436030987969, 'target_speed': 7.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': -0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0258.json ================================================ {'x': -195.1490900915289, 'y': 115.42030334249482, 'theta': 4.710093021392822, 'speed': 3.6240998977407206, 'target_speed': 7.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': 0.0, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0259.json ================================================ {'x': -195.1621679366847, 'y': 113.07211303498835, 'theta': 4.708279132843018, 'speed': 4.659029789062652, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': 0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0260.json ================================================ {'x': -195.16450271970268, 'y': 111.28052520543108, 'theta': 4.71024751663208, 'speed': 3.4288355978518283, 'target_speed': 7.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': 0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0261.json ================================================ {'x': -195.16775310502086, 'y': 109.50743865753086, 'theta': 4.7104597091674805, 'speed': 4.4184559479380265, 'target_speed': 0.0, 'x_command': -195.1532865962709, 'y_command': 101.4250946025066, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0262.json ================================================ {'x': -195.16889760631415, 'y': 107.17398071087224, 'theta': 4.712258338928223, 'speed': 3.6401330191183487, 'target_speed': 7.0, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 4, 'steer': 0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0263.json ================================================ {'x': -195.15218787540903, 'y': 105.16449737346998, 'theta': 4.719994068145752, 'speed': 4.389602241590194, 'target_speed': 7.0, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0264.json ================================================ {'x': -195.14098701528508, 'y': 103.0106887797472, 'theta': 4.717453956604004, 'speed': 4.408049759741699, 'target_speed': 7.0, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.023, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0265.json ================================================ {'x': -195.18783529923058, 'y': 100.94465637005915, 'theta': 4.690454006195068, 'speed': 3.8664463645129152, 'target_speed': 4, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.096, 'throttle': 0.7018394156225548, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0266.json ================================================ {'x': -195.38583416218427, 'y': 98.87775420951492, 'theta': 4.6235809326171875, 'speed': 3.8577912448268887, 'target_speed': 4, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.117, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0267.json ================================================ {'x': -195.76811313588018, 'y': 97.0783157330031, 'theta': 4.508255958557129, 'speed': 3.8412574598405493, 'target_speed': 4, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.177, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0268.json ================================================ {'x': -196.48731835037208, 'y': 95.13351440247601, 'theta': 4.373465538024902, 'speed': 3.864425680425466, 'target_speed': 4, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.261, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0269.json ================================================ {'x': -197.42092712986863, 'y': 93.5554733258342, 'theta': 4.194320201873779, 'speed': 3.7981362902696914, 'target_speed': 4, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.21, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0270.json ================================================ {'x': -198.75125123855162, 'y': 91.98775481996748, 'theta': 4.012816429138184, 'speed': 3.9345371352018605, 'target_speed': 4, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.245, 'throttle': 0.4214783810812617, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0271.json ================================================ {'x': -200.16271330719957, 'y': 90.85289001290562, 'theta': 3.841176986694336, 'speed': 3.7547398258863938, 'target_speed': 4, 'x_command': -208.33909516860058, 'y_command': 88.40167236153945, 'command': 1, 'steer': -0.201, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0272.json ================================================ {'x': -201.96904467376254, 'y': 89.8497314435082, 'theta': 3.650991439819336, 'speed': 3.9788402157829883, 'target_speed': 4, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 1, 'steer': -0.224, 'throttle': 0.17934543408997655, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0273.json ================================================ {'x': -203.70081601866175, 'y': 89.2627410870946, 'theta': 3.504835605621338, 'speed': 3.7673342894806296, 'target_speed': 4, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 1, 'steer': -0.232, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0274.json ================================================ {'x': -205.75784074289098, 'y': 88.86672973464471, 'theta': 3.351991891860962, 'speed': 4.009701751334351, 'target_speed': 4, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': -0.168, 'throttle': 0.06436936043200782, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0275.json ================================================ {'x': -207.6060322785852, 'y': 88.70204925363956, 'theta': 3.244422197341919, 'speed': 3.782587232651621, 'target_speed': 7.0, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': -0.097, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0276.json ================================================ {'x': -209.83166693604727, 'y': 88.62693023506326, 'theta': 3.1814780235290527, 'speed': 4.865772377361778, 'target_speed': 7.0, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': -0.035, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0277.json ================================================ {'x': -212.5806009641037, 'y': 88.58725738351846, 'theta': 3.154179811477661, 'speed': 5.867210563007056, 'target_speed': 7.0, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': -0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0278.json ================================================ {'x': -215.7495701529749, 'y': 88.53491210766454, 'theta': 3.159269332885742, 'speed': 6.626029587622481, 'target_speed': 7.0, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': 0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0279.json ================================================ {'x': -219.25878019471938, 'y': 88.46015167058727, 'theta': 3.1633012294769287, 'speed': 7.084714482107964, 'target_speed': 7.0, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': -0.003, 'throttle': 0.10193235436995458, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0280.json ================================================ {'x': -222.44052590814204, 'y': 88.40747070144548, 'theta': 3.155390739440918, 'speed': 6.0927295424998595, 'target_speed': 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================================================ FILE: sample_data/route_00/measurements/0283.json ================================================ {'x': -232.3176818041656, 'y': 88.41518401926285, 'theta': 3.1382808685302734, 'speed': 6.1884839202489035, 'target_speed': 7.0, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': 0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0284.json ================================================ {'x': -235.51660266547722, 'y': 88.41826629464562, 'theta': 3.1411044597625732, 'speed': 6.625002645853399, 'target_speed': 7.0, 'x_command': -259.3436051384126, 'y_command': 88.40942382641866, 'command': 4, 'steer': 0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0285.json ================================================ {'x': -239.0247417412803, 'y': 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================================================ {'x': -255.22861634789462, 'y': 88.39690398996765, 'theta': 3.147041082382202, 'speed': 6.516106538459411, 'target_speed': 7.0, 'x_command': -311.3486710150318, 'y_command': 88.41732787915599, 'command': 4, 'steer': -0.007, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0291.json ================================================ {'x': -258.70023497283927, 'y': 88.41349792307382, 'theta': 3.1357333660125732, 'speed': 6.885837432266919, 'target_speed': 7.0, 'x_command': -311.3486710150318, 'y_command': 88.41732787915599, 'command': 4, 'steer': 0.006, 'throttle': 0.7032447397479785, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0292.json ================================================ {'x': -261.8945929910365, 'y': 88.42525482010447, 'theta': 3.1404476165771484, 'speed': 6.24307854139098, 'target_speed': 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================================================ FILE: sample_data/route_00/measurements/0295.json ================================================ {'x': -271.7152189420384, 'y': 88.4190673811278, 'theta': 3.139765739440918, 'speed': 6.299058169284604, 'target_speed': 7.0, 'x_command': -311.3486710150318, 'y_command': 88.41732787915599, 'command': 4, 'steer': 0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0296.json ================================================ {'x': -275.05608282987174, 'y': 88.41671752759376, 'theta': 3.1428377628326416, 'speed': 6.9869052499556785, 'target_speed': 7.0, 'x_command': -311.3486710150318, 'y_command': 88.41732787915599, 'command': 4, 'steer': 0.0, 'throttle': 0.11794181371149975, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0297.json ================================================ {'x': -278.48744205040725, 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================================================ {'x': -294.7060666000826, 'y': 88.4251174909673, 'theta': 3.140211582183838, 'speed': 6.944798244773964, 'target_speed': 7.0, 'x_command': -311.3486710150318, 'y_command': 88.41732787915599, 'command': 4, 'steer': 0.003, 'throttle': 0.3296357961769426, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0303.json ================================================ {'x': -298.1683248496202, 'y': 88.42919921698294, 'theta': 3.1420810222625732, 'speed': 6.525413482708166, 'target_speed': 7.0, 'x_command': -311.3486710150318, 'y_command': 88.41732787915599, 'command': 4, 'steer': 0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0304.json ================================================ {'x': -301.2314363351573, 'y': 88.42145538159393, 'theta': 3.1433191299438477, 'speed': 6.124902094375567, 'target_speed': 7.0, 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sample_data/route_00/measurements/0307.json ================================================ {'x': -309.31086567148236, 'y': 88.41082763497286, 'theta': 3.1349244117736816, 'speed': 0.3530747261429328, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.0015, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0308.json ================================================ {'x': -309.32148686762423, 'y': 88.41088867011611, 'theta': 3.134960174560547, 'speed': -0.01158528477928014, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.002, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0309.json ================================================ {'x': -309.32356227565805, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0312.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': -2.3941392536350224e-06, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0313.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': -4.098584174341352e-07, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0314.json ================================================ {'x': -309.3237759208354, 'y': 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================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 5.44238901932105e-09, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0320.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 4.455773990381804e-09, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0321.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': -2.2582483502714086e-08, 'target_speed': 0.0, 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sample_data/route_00/measurements/0324.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 4.1074927881278154e-08, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0325.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 7.308191145251225e-09, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0326.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0329.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': -1.3121851792702642e-09, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0330.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 6.9531954753447475e-09, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0331.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': -3.16155818730505e-08, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0332.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': -1.1714340682287955e-08, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0333.json ================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': 1.4212561344493194e-08, 'target_speed': 0.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 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================================================ {'x': -309.3237759208354, 'y': 88.41091918768774, 'theta': 3.13495135307312, 'speed': -5.625877027269227e-09, 'target_speed': 7.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.006, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0337.json ================================================ {'x': -309.41594838225933, 'y': 88.41158294503273, 'theta': 3.1350326538085938, 'speed': 0.5481662605364536, 'target_speed': 7.0, 'x_command': -317.32661002020734, 'y_command': 88.41823577707399, 'command': 4, 'steer': 0.007, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0338.json ================================================ {'x': -310.26506439064104, 'y': 88.41471862619828, 'theta': 3.1374928951263428, 'speed': 2.4032783727236007, 'target_speed': 7.0, 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sample_data/route_00/measurements/0341.json ================================================ {'x': -316.9011511011696, 'y': 88.41378021070865, 'theta': 3.146655559539795, 'speed': 5.851584587226611, 'target_speed': 7.0, 'x_command': -326.60177520785675, 'y_command': 79.41427612154756, 'command': 2, 'steer': 0.025, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0342.json ================================================ {'x': -319.95844346957665, 'y': 88.19067382643846, 'theta': 3.2352116107940674, 'speed': 5.960535503107814, 'target_speed': 4, 'x_command': -326.60177520785675, 'y_command': 79.41427612154756, 'command': 2, 'steer': 0.238, 'throttle': 0.1, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0343.json ================================================ {'x': -322.42973899429114, 'y': 87.43547820878351, 'theta': 3.4813811779022217, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0346.json ================================================ {'x': -325.93242406369075, 'y': 83.00272369223057, 'theta': 4.2971906661987305, 'speed': 3.520953358376825, 'target_speed': 4, 'x_command': -326.5739097391397, 'y_command': 27.41428565921392, 'command': 4, 'steer': 0.383, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0347.json ================================================ {'x': -326.22740735469154, 'y': 81.01593780355677, 'theta': 4.544910430908203, 'speed': 4.241591454338832, 'target_speed': 4, 'x_command': -326.5739097391397, 'y_command': 27.41428565921392, 'command': 4, 'steer': 0.221, 'throttle': 0.06498298179591662, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0348.json ================================================ {'x': -326.28240579256686, 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{'x': -326.6460913805387, 'y': 63.9184265123944, 'theta': 4.700639247894287, 'speed': 6.260403442782734, 'target_speed': 7.0, 'x_command': -326.5739097391397, 'y_command': 27.41428565921392, 'command': 4, 'steer': 0.016, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0354.json ================================================ {'x': -326.6326011919325, 'y': 60.60910034056935, 'theta': 4.7184858322143555, 'speed': 6.904676643021452, 'target_speed': 7.0, 'x_command': -326.5739097391397, 'y_command': 27.41428565921392, 'command': 4, 'steer': 0.009, 'throttle': 0.5323303108302282, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0355.json ================================================ {'x': -326.58862075190643, 'y': 57.14358138921217, 'theta': 4.7252116203308105, 'speed': 6.567022901180313, 'target_speed': 7.0, 'x_command': -326.5739097391397, 'y_command': 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================================================ {'x': -326.5786099362045, 'y': 47.37665557768553, 'theta': 4.708888053894043, 'speed': 6.858311224593104, 'target_speed': 7.0, 'x_command': -326.5739097391397, 'y_command': 27.41428565921392, 'command': 4, 'steer': -0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0359.json ================================================ {'x': -326.5926800166033, 'y': 44.2893486013983, 'theta': 4.707000255584717, 'speed': 6.039139465473285, 'target_speed': 7.0, 'x_command': -326.5739097391397, 'y_command': 27.41428565921392, 'command': 4, 'steer': 0.005, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0360.json ================================================ {'x': -326.59896729710016, 'y': 41.12586975011912, 'theta': 4.712164878845215, 'speed': 6.597586836416789, 'target_speed': 7.0, 'x_command': 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sample_data/route_00/measurements/0363.json ================================================ {'x': -326.5575811194893, 'y': 31.24951171813936, 'theta': 4.7159929275512695, 'speed': 6.606425064882872, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': -0.006, 'throttle': 0.09333975565687819, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0364.json ================================================ {'x': -326.5698809947304, 'y': 28.01350021303044, 'theta': 4.711434364318848, 'speed': 6.023123951552669, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': -0.001, 'throttle': 0.06208975565687819, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0365.json ================================================ {'x': -326.571345993848, 'y': 25.546840667178834, 'theta': 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0.035080057358373495, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0368.json ================================================ {'x': -326.5802885836634, 'y': 19.881471633455337, 'theta': 4.709610939025879, 'speed': 3.4476698535836214, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.006, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0369.json ================================================ {'x': -326.58337117700853, 'y': 17.88340949966613, 'theta': 4.710935592651367, 'speed': 4.320406764329666, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.006, 'throttle': 0.06969610383649788, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0370.json ================================================ {'x': -326.57394025942733, 'y': 15.955039977589209, 'theta': 4.715524673461914, 'speed': 3.6748905836495167, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0371.json ================================================ {'x': -326.5672867291511, 'y': 13.91673278775481, 'theta': 4.714932441711426, 'speed': 4.230564613767852, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': -0.0, 'throttle': 0.06239564525685883, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0372.json ================================================ {'x': -326.5526672772472, 'y': 12.069619178409615, 'theta': 4.722705841064453, 'speed': 3.5499217598796315, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.035, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0373.json ================================================ {'x': -326.4423651859643, 'y': 10.076182365131968, 'theta': 4.7725629806518555, 'speed': 4.038606924950752, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.164, 'throttle': 0.056585111234845886, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0374.json ================================================ {'x': -326.10733862266375, 'y': 8.287569045738062, 'theta': 4.894003868103027, 'speed': 3.703246313057068, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.232, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0375.json ================================================ {'x': -325.3238703702478, 'y': 6.378126621034772, 'theta': 5.105339527130127, 'speed': 4.100308892503605, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.344, 'throttle': 0.06142834866791132, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0376.json ================================================ {'x': -324.233058116677, 'y': 4.9433217046734335, 'theta': 5.33651065826416, 'speed': 3.594026022999992, 'target_speed': 4, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.362, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0377.json ================================================ {'x': -322.61582404497415, 'y': 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'steer': 0.205, 'throttle': 0.06750577116135274, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0380.json ================================================ {'x': -317.1665288114384, 'y': 2.4081299304284283, 'theta': 6.176641464233398, 'speed': 3.5900794262641393, 'target_speed': 7.0, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.105, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0381.json ================================================ {'x': -315.1180390796277, 'y': 2.330484628594977, 'theta': 6.237307548522949, 'speed': 4.613532521488807, 'target_speed': 7.0, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.032, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0382.json ================================================ {'x': -312.78912588879683, 'y': 2.2657132147585037, 'theta': 6.250121116638184, 'speed': 3.81409585891442, 'target_speed': 0.0, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': -0.001, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0383.json ================================================ {'x': -311.83620860406506, 'y': 2.232930421675438, 'theta': 6.249757289886475, 'speed': 0.001543487808465619, 'target_speed': 0.0, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': -0.008, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0384.json ================================================ {'x': -311.8290972821309, 'y': 2.2327077387679615, 'theta': 6.249765872955322, 'speed': -0.0066611673616035596, 'target_speed': 7.0, 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sample_data/route_00/measurements/0387.json ================================================ {'x': -309.80014276503573, 'y': 2.1457450388450825, 'theta': 6.242811679840088, 'speed': 3.515688281895054, 'target_speed': 7.0, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0388.json ================================================ {'x': -307.7264456771621, 'y': 2.0674595832154594, 'theta': 6.245835304260254, 'speed': 4.72007358637452, 'target_speed': 7.0, 'x_command': -296.62184516081567, 'y_command': 2.012741804062243, 'command': 4, 'steer': 0.018, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0389.json ================================================ {'x': -305.09495376012586, 'y': 2.0136184690709404, 'theta': 6.26406717300415, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0404.json ================================================ {'x': -256.0521937509961, 'y': 2.0232641695336615, 'theta': 0.003469892079010606, 'speed': 6.857425815000065, 'target_speed': 7.0, 'x_command': -245.61699230446325, 'y_command': 2.019400596472447, 'command': 4, 'steer': -0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0405.json ================================================ {'x': -252.6237631048797, 'y': 2.03642201415699, 'theta': 0.0027404725551605225, 'speed': 6.0335066089835845, 'target_speed': 7.0, 'x_command': -194.6113267529052, 'y_command': 1.9957600830783748, 'command': 4, 'steer': -0.006, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0406.json ================================================ {'x': -249.7861170705346, 'y': 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================================================ {'x': -233.07026567073626, 'y': 2.021041631576857, 'theta': 0.0031832056120038033, 'speed': 6.126668983851245, 'target_speed': 7.0, 'x_command': -194.6113267529052, 'y_command': 1.9957600830783748, 'command': 4, 'steer': -0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0412.json ================================================ {'x': -230.17247423329314, 'y': 2.020342588261283, 'theta': 6.280672073364258, 'speed': 6.763320621303995, 'target_speed': 7.0, 'x_command': -194.6113267529052, 'y_command': 1.9957600830783748, 'command': 4, 'steer': 0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0413.json ================================================ {'x': -226.32257525111467, 'y': 2.0095093248910976, 'theta': 6.28180456161499, 'speed': 6.84236761963846, 'target_speed': 7.0, 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sample_data/route_00/measurements/0416.json ================================================ {'x': -216.85691826420123, 'y': 2.0013971327592843, 'theta': 0.0011451210593804717, 'speed': 6.972925948226299, 'target_speed': 7.0, 'x_command': -194.6113267529052, 'y_command': 1.9957600830783748, 'command': 4, 'steer': 0.001, 'throttle': 0.22256553263031803, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0417.json ================================================ {'x': -213.38248746021588, 'y': 2.0114815233303287, 'theta': 0.0027186358347535133, 'speed': 6.074674823971967, 'target_speed': 7.0, 'x_command': -194.6113267529052, 'y_command': 1.9957600830783748, 'command': 4, 'steer': -0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0418.json ================================================ {'x': -210.54759306108983, 'y': 2.016614675345723, 'theta': 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================================================ {'x': -193.99675976230202, 'y': 1.9825918673559912, 'theta': 0.0029499635566025972, 'speed': 6.108324588680796, 'target_speed': 7.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': 0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0424.json ================================================ {'x': -190.89023173116738, 'y': 1.9877959488516341, 'theta': 6.281989574432373, 'speed': 6.451531131102469, 'target_speed': 7.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': 0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0425.json ================================================ {'x': -187.44972492927658, 'y': 1.999109268022341, 'theta': 0.004041249398142099, 'speed': 7.186539113230087, 'target_speed': 7.0, 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================================================ FILE: sample_data/route_00/measurements/0428.json ================================================ {'x': -177.63535220742014, 'y': 1.9957101343718608, 'theta': 0.0006905339541845024, 'speed': 7.183558858113455, 'target_speed': 7.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': -0.003, 'throttle': 0.0835203218709852, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0429.json ================================================ {'x': -174.00228807951478, 'y': 1.9841185807573218, 'theta': 6.277596950531006, 'speed': 6.0835572827607844, 'target_speed': 7.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': 0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0430.json ================================================ {'x': 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'y_command': 1.9686006305941177, 'command': 4, 'steer': 0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0433.json ================================================ {'x': -161.4762938746301, 'y': 1.9888796805077522, 'theta': 0.0042985426262021065, 'speed': 6.116898646797556, 'target_speed': 0.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0434.json ================================================ {'x': -158.74662795023804, 'y': 1.9993782042439077, 'theta': 6.2831854820251465, 'speed': 2.798396298992737, 'target_speed': 0.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0435.json ================================================ {'x': -158.56918551980925, 'y': 1.9988185165961434, 'theta': 6.282840251922607, 'speed': -0.017809530026105535, 'target_speed': 0.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0436.json ================================================ {'x': -158.56398188354456, 'y': 1.9988055228517225, 'theta': 6.282840251922607, 'speed': -0.0028606539799167835, 'target_speed': 0.0, 'x_command': -142.6073709528717, 'y_command': 1.9686006305941177, 'command': 4, 'steer': -0.003, 'throttle': 0.0, 'brake': True} ================================================ FILE: sample_data/route_00/measurements/0437.json ================================================ {'x': -158.56367668383248, 'y': 1.998804449974933, 'theta': 6.28258752822876, 'speed': 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================================================ FILE: sample_data/route_00/measurements/0464.json ================================================ {'x': -79.2547272789586, 'y': 1.9504520891603574, 'theta': 0.0009134905994869769, 'speed': 6.149916718387963, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': -0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0465.json ================================================ {'x': -76.02015072303631, 'y': 1.9418799875708617, 'theta': 6.279435157775879, 'speed': 6.754148725200663, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': 0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0466.json ================================================ {'x': -72.47677332688953, 'y': 1.9376970528195105, 'theta': 0.001091830083169043, 'speed': 7.015113105744557, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': 0.001, 'throttle': 0.07298502653689104, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0467.json ================================================ {'x': -69.36506404187817, 'y': 1.938217520658387, 'theta': 6.282840251922607, 'speed': 5.964717504839965, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': 0.003, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0468.json ================================================ {'x': -66.26770059879027, 'y': 1.9428750274736335, 'theta': 0.003686444601044059, 'speed': 6.429802398307369, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': -0.001, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0469.json ================================================ {'x': -62.79649619673312, 'y': 1.9500118492834577, 'theta': 0.0, 'speed': 7.191577066323018, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': 0.001, 'throttle': 0.07960881254449988, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0470.json ================================================ {'x': -59.50491916888778, 'y': 1.9560453890793275, 'theta': 0.004041249398142099, 'speed': 6.29340054426118, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': -0.004, 'throttle': 0.75, 'brake': False} ================================================ FILE: sample_data/route_00/measurements/0471.json ================================================ {'x': -56.264257903521305, 'y': 1.9593985079913425, 'theta': 0.0005980199784971774, 'speed': 6.6995370139187544, 'target_speed': 7.0, 'x_command': -49.60330090480868, 'y_command': 1.9547302721487383, 'command': 4, 'steer': -0.002, 'throttle': 0.75, 'brake': False} ================================================ FILE: scripts/Dockerfile.master ================================================ FROM nvidia/cuda:9.0-cudnn7-devel-ubuntu16.04 ARG HTTP_PROXY ARG HTTPS_PROXY ARG http_proxy RUN apt-get update && apt-get install --reinstall -y locales && locale-gen en_US.UTF-8 ENV LANG en_US.UTF-8 ENV LANGUAGE en_US ENV LC_ALL en_US.UTF-8 RUN apt-get update && apt-get install -y --no-install-recommends \ build-essential \ cmake \ git \ curl \ vim \ ca-certificates \ libjpeg-dev \ libpng16-16 \ libtiff5 \ libpng-dev \ python-dev \ python3.5 \ python3.5-dev \ python-networkx \ python-setuptools \ python3-setuptools \ python-pip \ python3-pip && \ pip install --upgrade pip && \ pip3 install --upgrade pip && \ rm -rf /var/lib/apt/lists/* # installing conda RUN curl -o ~/miniconda.sh -LO https://repo.continuum.io/miniconda/Miniconda3-latest-Linux-x86_64.sh && \ chmod +x ~/miniconda.sh && \ ~/miniconda.sh -b -p /opt/conda && \ rm ~/miniconda.sh && \ /opt/conda/bin/conda clean -ya && \ /opt/conda/bin/conda create -n python37 python=3.7 numpy networkx scipy six requests RUN packages='py_trees==0.8.3 shapely six dictor requests' \ && pip3 install ${packages} WORKDIR /workspace COPY .tmp/PythonAPI /workspace/CARLA/PythonAPI ENV CARLA_ROOT /workspace/CARLA ENV PATH "/workspace/CARLA/PythonAPI/carla/dist/carla-0.9.9-py3.7-linux-x86_64.egg":/opt/conda/envs/python37/bin:/opt/conda/envs/bin:$PATH # adding CARLA egg to default python environment RUN pip install --user setuptools py_trees==0.8.3 psutil shapely six dictor requests ENV SCENARIO_RUNNER_ROOT "/workspace/scenario_runner" ENV LEADERBOARD_ROOT "/workspace/leaderboard" ENV TEAM_CODE_ROOT "/workspace/team_code" ENV PYTHONPATH "/workspace/CARLA/PythonAPI/carla/dist/carla-0.9.9-py3.7-linux-x86_64.egg":"${SCENARIO_RUNNER_ROOT}":"${CARLA_ROOT}/PythonAPI/carla":"${LEADERBOARD_ROOT}":${PYTHONPATH} COPY .tmp/scenario_runner /workspace/scenario_runner COPY .tmp/leaderboard /workspace/leaderboard COPY .tmp/team_code ${TEAM_CODE_ROOT} RUN mkdir -p /workspace/results RUN chmod +x /workspace/leaderboard/scripts/run_evaluation.sh ######################################################################################################################## ######################################################################################################################## ############ BEGINNING OF USER COMMANDS ############ ######################################################################################################################## ######################################################################################################################## COPY .tmp/carla_project /workspace/carla_project ENV PYTHONPATH "/workspace/CARLA/PythonAPI/carla/dist/carla-0.9.9-py3.7-linux-x86_64.egg":${PYTHONPATH} ENV PYTHONPATH "/workspace/":${PYTHONPATH} ENV TEAM_AGENT /workspace/team_code/image_agent.py ENV TEAM_CONFIG /workspace/team_code/model.ckpt ENV CHALLENGE_PHASE_CODENAME SENSORS RUN apt-get update && apt-get install -y --no-install-recommends \ libgtk2.0-dev ENV PATH="/opt/conda/bin:${PATH}" RUN /opt/conda/envs/python37/bin/pip install -r /workspace/carla_project/requirements.txt RUN /opt/conda/bin/conda install -c anaconda libgcc=7.2.0 RUN /opt/conda/bin/conda init bash RUN cp /opt/conda/lib/libstdc++.so.6.0.26 /usr/lib/x86_64-linux-gnu/libstdc++.so.6 ENV CONDA_DEFAULT_ENV python37 ENV PATH /opt/conda/envs/python37/bin:$PATH ######################################################################################################################## ######################################################################################################################## ############ END OF USER COMMANDS ############ ######################################################################################################################## ######################################################################################################################## ENV SCENARIOS ${LEADERBOARD_ROOT}/data/all_towns_traffic_scenarios_public.json ENV ROUTES ${LEADERBOARD_ROOT}/data/routes_training.xml ENV REPETITIONS 1 ENV CHECKPOINT_ENDPOINT /workspace/results/results.json ENV DEBUG_CHALLENGE 0 ENV HTTP_PROXY "" ENV HTTPS_PROXY "" ENV http_proxy "" ENV https_proxy "" CMD ["/bin/bash"] ================================================ FILE: scripts/make_docker.sh ================================================ #!/bin/bash CARLA_ROOT=/home/bradyzhou/software/CARLA_0.9.9 SCENARIO_RUNNER_ROOT=/home/bradyzhou/code/2020_CARLA_challenge/scenario_runner LEADERBOARD_ROOT=/home/bradyzhou/code/2020_CARLA_challenge/leaderboard TEAM_CODE_ROOT=/home/bradyzhou/code/2020_CARLA_challenge/leaderboard/team_code mkdir .tmp cp -fr ${CARLA_ROOT}/PythonAPI .tmp cp -fr ${SCENARIO_RUNNER_ROOT}/ .tmp cp -fr ${LEADERBOARD_ROOT}/ .tmp cp -fr ${TEAM_CODE_ROOT}/ .tmp/team_code cp -fr /home/bradyzhou/code/2020_CARLA_challenge/carla_project .tmp # build docker image docker build --force-rm -t leaderboard-user -f scripts/Dockerfile.master . rm -fr .tmp