Vehicle_HealthCheck:
  diagnostics_check: true
  mqtt_reconnect_delay: 2500
  num_mqtt_reconnects: -1
agent_name: NRC_Leaf_Sierra
can_com_controller:
  ARS300Consumer: false
  ARS300ConsumerCh: 0
  Can1Consumer: false
  Can1ConsumerCh: 0
  Can1Writer: false
  Can1WriterCh: 0
  Can1WriterFS_CTRL: false
  Can1WriterFS_CTRLCh: 0
  Can1WriterHD_CTRL: false
  Can1WriterHD_CTRLCh: 0
  Can2Consumer: false
  Can2ConsumerCh: 0
  CanAdasConsumer: false
  CanAdasConsumerCh: 0
  CanAdasWriterXH0: true
  CanAdasWriterXH0Ch: 1
  CanAriyaITS6Writer: false
  CanAriyaITS6WriterCh: 0
  CanAriyaSvITS1Consumer: false
  CanAriyaSvITS1ConsumerCh: 0
  CanAriyaSvITS2Consumer: false
  CanAriyaSvITS2ConsumerCh: 0
  CanAriyaSvITS3Consumer: false
  CanAriyaSvITS3ConsumerCh: 0
  CanAriyaSvITS4Consumer: false
  CanAriyaSvITS4ConsumerCh: 0
  CanAriyaSvITS5Consumer: false
  CanAriyaSvITS5ConsumerCh: 0
  CanAriyaSvITS6Consumer: false
  CanAriyaSvITS6ConsumerCh: 0
  CanAriyaSvWriter: false
  CanAriyaSvWriterCh: 0
  CanIcConsumer: false
  CanIcConsumerCh: 0
  CanIntelPedalWriter: false
  CanIntelPedalWriterCh: 0
  CanLimaITS4Consumer: false
  CanLimaITS4ConsumerCh: 0
  CanProPILOTTransceiver: false
  CanProPILOTTransceiverCh: 0
  CanSerenaEvCanConsumer: false
  CanSerenaEvCanConsumerCh: 0
  CanSerenaItsCanConsumer: false
  CanSerenaItsCanConsumerCh: 0
  CanSerenaNaviCanConsumer: false
  CanSerenaNaviCanConsumerCh: 0
  CanSerenaVcanConsumer: false
  CanSerenaVcanConsumerCh: 0
  CanVConsumer: true
  CanVConsumerCh: 0
  CanZe1SvConsumer: false
  CanZe1SvConsumerCh: 0
  CanZe1SvWriter: false
  CanZe1SvWriterCh: 0
  ContiRadar: false
  ContiRadarCh: 0
  Eyeq2: false
  Eyeq2Ch: 0
  Eyeq3: false
  Eyeq3Ch: 0
  Eyeq3Prod: false
  Eyeq3ProdCh: 0
  Eyeq4Dev: false
  Eyeq4DevCh: 0
  Eyeq4DevFS: false
  Eyeq4DevFSCh: 0
  Eyeq4DevWrite: false
  Eyeq4DevWriteCh: 0
  Eyeq5DevCh0: false
  Eyeq5DevCh0Ch: 0
  Eyeq5DevCh1: false
  Eyeq5DevCh1Ch: 0
  Eyeq5DevWrite: false
  Eyeq5DevWriteCh: 0
  Eyeq6DevWrite: false
  Eyeq6DevWriteCh: 0
  FAVISConsumer: false
  FAVISConsumerCh: 0
  LeafUdpCom: false
  MeterInfoConsumer: false
  MeterInfoConsumerCh: 0
  StereoCameraConsumer: false
  StereoCameraConsumerCh: 0
  adCan2Channel: 1
  controlMode: FS_CTRL
  evCanChannel: 1
  leafLimits:
    maxCurvature: 0.2
    maxForwardAccForce: 30000.0
    maxForwardDecForce: -30000.0
    maxForwardSpeed: 30.0
    maxReverseAccForce: 20000.0
    maxReverseDecForce: -20000.0
    maxReverseSpeed: 10.0
    maxSteeringWheelAngle: 9.42477796076938
  mEye3Can1Channel: 0
  mEye3Can2Channel: 0
  modular: true
  numChannels: 2
  useCanMessageTime: true
  vBoxInstance: false
  vCanChannel: 0
  vehicleType: LEAF_GEN2
cpu_monitor:
  clock_error_threshold: 0.2
  clock_warning_threshold: 0.1
  cpu_error_threshold: 90.0
  cpu_warning_threshold: 80.0
  temp_error_threshold: 95.0
  temp_warning_threshold: 85.0
  update_rate: 0.5
dabp_from_zed_node:
  boundary:
    max_height: 2.5
    max_radius: 18.0
    min_height: 0.3
    min_radius: 3.0
    num_angular_bins: 1200
  diagnostics:
    max_latency_sec: 0.5
    min_frequency_hz: 5.0
    msg_timeout_error_sec: 5.0
    msg_timeout_warn_sec: 2.0
  filter:
    max_x: 20.0
    max_y: 5.0
    max_z: -0.5
    min_x: 3.7
    min_y: -5.0
    min_z: -2.0
  filtered_cloud_topic: /obstacle/filtered_point_cloud
  fixed_dabp_z_level: -1.2
  ground_plane:
    enable_fallback: true
    max_failure_frames: 5
    normal_x: 0.0
    normal_y: -1.0
    normal_z: 0.0
  in_topic: zed2i/zed_node/point_cloud/cloud_registered
  out_filtered_topic_approach: /obstacle/dab_in_path/approach
  out_filtered_topic_scooch: /obstacle/dab_in_path/scooch
  out_topic: /obstacle/dab
  path_topic: /vehicle_trajectory_control
  pose_topic: /dynamic_global_pose
  pub_ground_plane: true
  ransac:
    distance_threshold: 0.03
    eps_angle_deg: 15.0
    max_iterations: 1000
  relevant_pc:
    threshold_distance_approach: 3.7
    threshold_distance_scooch: 2.7
  source_frame: zed2i_left_camera_frame
  sub_sampled_topic: /obstacle/subsampled_point_cloud
  subsampling:
    enable_random_sampling: true
    random_sample_size: 0.05
  target_frame: car
  use_full_transform: false
  voxel_resolution_m: 0.03
devname: /dev/gps/ublox/F9R
diagnostic_aggregator:
  analyzers:
    camera:
      path: Camera
      regex: Camera/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    clock:
      contains:
      - Clock
      path: System/Clock
      timeout: 60.0
      type: diagnostic_aggregator/GenericAnalyzer
    cpu:
      path: System/CPU
      regex: CPU.*
      timeout: 30.0
      type: diagnostic_aggregator/GenericAnalyzer
    health:
      contains:
      - vehicle HM diagnostic
      path: Health
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    latency_all:
      path: Latency
      regex: latency_.*
      timeout: 6.0
      type: diagnostic_aggregator/GenericAnalyzer
    latency_pointcloud:
      path: Latency/Sensors
      regex: latency_.*point_cloud.*
      timeout: 6.0
      type: diagnostic_aggregator/GenericAnalyzer
    memory:
      contains:
      - Memory
      path: System/Memory
      timeout: 30.0
      type: diagnostic_aggregator/GenericAnalyzer
    perception:
      path: Perception
      regex: Perception/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
    pose:
      path: Pose
      regex: Pose/.*
      timeout: 5.0
      type: diagnostic_aggregator/GenericAnalyzer
dynamicPoseTopic_f9r: /dynamic_global_pose_F9R
f9rRTCM_devname: /dev/gps/ublox/F9R_RTCM
f9r_devname: /dev/gps/ublox/F9R
fvla_data_fetcher:
  agent_name: NRC_Leaf_Sierra
  data_save_path: /var/tmp
  fvla_component_type: vehicle
  fvla_service_jwt_password: nrc_leaf_sierra_pass
  fvla_service_jwt_username: NRC_Leaf_Sierra
  fvla_service_url: https://webapp.fvla.natcsv.com
  infrapod_id: ''
  log_level: info
  map_name: Franklin.set
  site_name: natcsv
  vehicle_id: NRC_Leaf_Sierra
fvla_recorder:
  dashboard_uri: ''
  fvla_component_type: ''
  fvla_recorder_timeout: 300
  fvla_service_jwt_password: fvla.natcsv.com
  fvla_service_jwt_username: fvla
  fvla_service_login_method: get
  fvla_service_login_path: /login
  fvla_service_url: http://fvla.nrcsv.com:8000
  log_level: info
  mqtt_password: yg#eo5cbAksD82qt
  mqtt_port: 8883
  mqtt_server: mqtt-broker-ncal.nrcsv.com
  mqtt_tls: true
  mqtt_user: sam-teleop
  recorder_limit_rate: 1M
  topics_to_record:
  - /control_inputs
  - /controller_state
  - /driver_input
  - /dynamic_global_pose
  - /dynamic_global_pose_swiftnav
  - /gps_state
  - /gps_state_swiftnav
  - /hm_drive_state
  - /vehicle_trajectory_control
  - /tf
  - /tf_static
  - /diagnostics
  - /ss_mode
  - /safety_shield_status
  - /rosout
  - /obstacle/dab
  - /recorded_vehicle_trajectory
  - (.*)diagnostics(.*)
  - (.*)occupancy(.*)
  - (.*)objects(.*)
  - /route/(.*)
  - /piksi/(.*)
  vehicle_id: ''
gps_stateTopic_f9r: /gps_state
health_indicator_node:
  drive_state_topic: /hm_drive_state
  serial_port: /dev/vpod/led
hm_config_file: /root/projects/fvla-vehiclepod/src/configs/health-monitor/Vehicle_HealthCheck.yaml
infrapod_data_file: ''
latency_monitor:
  topic_configs:
    topics:
    - freq_error_threshold: 5.0
      freq_warning_threshold: 7.0
      latency_error_threshold: 0.35
      latency_warning_threshold: 0.25
      message_type: sensor_msgs.msg.PointCloud2
      name: /sub_sampled_point_cloud
      update_rate: 0.5
    - freq_error_threshold: 5.0
      freq_warning_threshold: 7.0
      latency_error_threshold: 0.35
      latency_warning_threshold: 0.25
      message_type: sensor_msgs.msg.PointCloud2
      name: /drivable_area_boundary
      update_rate: 0.5
piksi:
  altitude0: 0
  base_station_ip_for_latency_estimation: 192.168.0.1
  base_station_mode: false
  baud_rate: 230400
  broadcast_addr: 192.168.0.255
  broadcast_port: 26078
  debug_mode: false
  driver_verbose: true
  interface: tcp
  latitude0_deg: 37.39718695686429
  longitude0_deg: -122.04398000000006
  navsatfix_frame_id: base_link
  publish_raw_imu_and_mag: false
  serial_port: /dev/ttyUSB0
  tcp_addr: 192.168.0.147
  tcp_port: 55555
  use_gps_time: false
  var_rtk_fix:
  - 0.0049
  - 0.0049
  - 0.01
  var_rtk_float:
  - 25.0
  - 25.0
  - 64.0
  var_spp:
  - 25.0
  - 25.0
  - 64.0
  var_spp_sbas:
  - 1.0
  - 1.0
  - 1.0
pose_estimator_cpp_node:
  ar_tag_map: /root/projects/fvla-base/nrc_ws/src/pose-estimator-cpp/config/maps/Franklin_Nov2024.yaml
  ekf:
    lag: 0.1
    state_dims: 3
  fusion_config: /root/projects/fvla-base/nrc_ws/src/pose-estimator-cpp/config/modes/swiftnav/fusion_config.yaml
  max_dead_reckon: 0.5
  nrc_pose:
    frame_id: site
    hz: 50
    publish: true
    topic_name: /dynamic_global_pose
  odometry:
    frame_id: site
    hz: 20
    publish: true
    topic_name: kbm_odom
  retry_init: 0.1
  reverse_support:
    enable: true
    gear_info_topic: /driver_input
  std_pose:
    covariance_scale: 100.0
    frame_id: site
    publish: true
    topic_name: /pose
  tf:
    base_frame: car
    enabled: true
    hz: 10
    parent_name: site
    publish: false
    source_frames:
      swiftnav: gps_antenna
      tags_zed_left_cam: zed2i_left_camera_frame
    timeout: 5.0
robot_description: "<?xml version=\"1.0\" ?>\n<!-- ===================================================================================\
  \ -->\n<!-- |    This document was autogenerated by xacro from /root/projects/fvla-base/nrc_ws/src/fvla_scripts/xacro/sierra.xacro\
  \ | -->\n<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                \
  \                 | -->\n<!-- ===================================================================================\
  \ -->\n<robot name=\"fvla\">\n  <!-- Top-level configuration parameters -->\n  <!--\
  \ *********************************** -->\n  <!-- Site frames macro -->\n  <!--\
  \ ***************** -->\n  <link name=\"site\"/>\n  <link name=\"map\"/>\n  <joint\
  \ name=\"site_to_map\" type=\"fixed\">\n    <parent link=\"site\"/>\n    <child\
  \ link=\"map\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n  <link\
  \ name=\"enu\"/>\n  <joint name=\"site_to_enu\" type=\"fixed\">\n    <parent link=\"\
  site\"/>\n    <child link=\"enu\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n\
  \  </joint>\n  <!-- Define local frame as child of site -->\n  <link name=\"local\"\
  />\n  <joint name=\"site_to_local\" type=\"fixed\">\n    <parent link=\"site\"/>\n\
  \    <child link=\"local\"/>\n    <origin rpy=\"0 0 0\" xyz=\"4850 -2220 0\"/>\n\
  \  </joint>\n  <!-- Sierra vehicle configuration -->\n  <!-- ****************************\
  \ -->\n  <!-- Nissan Leaf 2019 Vehicle Specifications -->\n  <!-- ***************************************\
  \ -->\n  <!-- car link -->\n  <link name=\"car\"/>\n  <!-- floating joint to parent\
  \ -->\n  <joint name=\"site_to_car\" type=\"fixed\">\n    <parent link=\"site\"\
  />\n    <child link=\"car\"/>\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n\
  \  <!-- fixed frames and joints -->\n  <link name=\"car_center\">\n    <visual>\n\
  \      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_red.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <!--\
  \ fixed frames and joints -->\n  <link name=\"car_ground\"/>\n  <joint name=\"car_to_car_ground\"\
  \ type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"car_ground\"/>\n\
  \    <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 -0.26\"/>\n  </joint>\n  <joint name=\"\
  car_to_car_center\" type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"\
  car_center\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.275 0.0 0.0\"/>\n  </joint>\n\
  \  <link name=\"front_bumper\"/>\n  <joint name=\"car_to_front_bumper\" type=\"\
  fixed\">\n    <parent link=\"car\"/>\n    <child link=\"front_bumper\"/>\n    <origin\
  \ rpy=\"0 0 0\" xyz=\"3.2 0 0\"/>\n  </joint>\n  <link name=\"rsu_centroid\"/>\n\
  \  <joint name=\"car_to_rsu_centroid\" type=\"fixed\">\n    <parent link=\"car\"\
  />\n    <child link=\"rsu_centroid\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.53 0.0\
  \ 0.7\"/>\n  </joint>\n  <!-- Tire visual elements at wheel positions -->\n  <link\
  \ name=\"front_left_tire\">\n    <visual>\n      <geometry>\n        <mesh filename=\"\
  package://fvla_scripts/xacro/mesh/leaf_tire.dae\" scale=\"0.95 0.95 0.95\"/>\n \
  \     </geometry>\n    </visual>\n  </link>\n  <joint name=\"car_center_to_front_left_tire\"\
  \ type=\"fixed\">\n    <parent link=\"car_center\"/>\n    <child link=\"front_left_tire\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"1.275 0.725 0\"/>\n  </joint>\n  <link name=\"\
  front_right_tire\">\n    <visual>\n      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_front_right_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"front_right_tire\"/>\n    <origin rpy=\"3.141592653589793\
  \ 0 0\" xyz=\"1.275 -0.725 0\"/>\n  </joint>\n  <link name=\"rear_left_tire\">\n\
  \    <visual>\n      <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_rear_left_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"rear_left_tire\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-1.275\
  \ 0.725 0\"/>\n  </joint>\n  <link name=\"rear_right_tire\">\n    <visual>\n   \
  \   <geometry>\n        <mesh filename=\"package://fvla_scripts/xacro/mesh/leaf_tire.dae\"\
  \ scale=\"0.95 0.95 0.95\"/>\n      </geometry>\n    </visual>\n  </link>\n  <joint\
  \ name=\"car_center_to_rear_right_tire\" type=\"fixed\">\n    <parent link=\"car_center\"\
  />\n    <child link=\"rear_right_tire\"/>\n    <origin rpy=\"3.141592653589793 0\
  \ 0\" xyz=\"-1.275 -0.725 0\"/>\n  </joint>\n  <!-- GPS sensor macro -->\n  <!--\
  \ **************** -->\n  <!-- GPS antenna frame -->\n  <link name=\"gps_antenna\"\
  />\n  <joint name=\"car_to_gps_antenna_frame\" type=\"fixed\">\n    <parent link=\"\
  car\"/>\n    <child link=\"gps_antenna\"/>\n    <origin rpy=\"0 0 0\" xyz=\"1.63737\
  \ 0.0 1.17526\"/>\n  </joint>\n  <!-- SwiftNav frame (identical to gps_antenna_frame)\
  \ -->\n  <link name=\"swiftnav\"/>\n  <joint name=\"gps_antenna_to_swiftnav\" type=\"\
  fixed\">\n    <parent link=\"gps_antenna\"/>\n    <child link=\"swiftnav\"/>\n \
  \   <origin rpy=\"0 0 0\" xyz=\"0.0 0.0 0.0\"/>\n  </joint>\n  <!-- ZED camera macro\
  \ -->\n  <!-- **************** -->\n  <material name=\"zed_mat\">\n    <color rgba=\"\
  0.8 0.8 0.8 0.8\"/>\n  </material>\n  <material name=\"zedm_mat\">\n    <color rgba=\"\
  0 0 0 0.9\"/>\n  </material>\n  <material name=\"zed2_mat\">\n    <color rgba=\"\
  0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zed2i_mat\">\n    <color\
  \ rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zedx_mat\">\n\
  \    <color rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <material name=\"zedxm_mat\"\
  >\n    <color rgba=\"0.25 0.25 0.25 0.99\"/>\n  </material>\n  <!-- Create dongle_center\
  \ frame (base for ZED camera) -->\n  <link name=\"dongle_center\"/>\n  <joint name=\"\
  car_to_dongle_center\" type=\"fixed\">\n    <parent link=\"car\"/>\n    <child link=\"\
  dongle_center\"/>\n    <origin rpy=\"0.0 0.06981317007977318 0.0\" xyz=\"2.28425\
  \ 0.0 0.89\"/>\n  </joint>\n  <!-- Camera mounting point (the threaded screw hole\
  \ in the bottom) -->\n  <link name=\"zed2i_base_link\"/>\n  <joint name=\"zed2i_base_joint\"\
  \ type=\"fixed\">\n    <parent link=\"dongle_center\"/>\n    <child link=\"zed2i_base_link\"\
  />\n    <origin rpy=\"0 0 0\" xyz=\"0 0 0\"/>\n  </joint>\n  <!-- Camera Center\
  \ -->\n  <link name=\"zed2i_camera_center\">\n    <visual>\n      <origin rpy=\"\
  -1.5707963267948966 0 0\" xyz=\"-0.01 0 0.0\"/>\n      <geometry>\n        <mesh\
  \ filename=\"package://fvla_scripts/xacro/mesh/zed2i.stl\"/>\n      </geometry>\n\
  \      <material name=\"zed2i_mat\"/>\n    </visual>\n    <collision>\n      <geometry>\n\
  \        <mesh filename=\"package://fvla_scripts/xacro/mesh/zed2i.stl\"/>\n    \
  \  </geometry>\n    </collision>\n  </link>\n  <joint name=\"zed2i_camera_center_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_base_link\"/>\n    <child link=\"zed2i_camera_center\"\
  />\n    <origin rpy=\"0 0.0 0\" xyz=\"0 0 0.015\"/>\n  </joint>\n  <!-- Left Camera\
  \ -->\n  <link name=\"zed2i_left_camera_frame\"/>\n  <joint name=\"zed2i_left_camera_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_camera_center\"/>\n    <child link=\"\
  zed2i_left_camera_frame\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-0.01 0.06 0\"/>\n\
  \  </joint>\n  <link name=\"zed2i_left_camera_optical_frame\"/>\n  <joint name=\"\
  zed2i_left_camera_optical_joint\" type=\"fixed\">\n    <origin rpy=\"-1.5707963267948966\
  \ 0.0 -1.5707963267948966\" xyz=\"0 0 0\"/>\n    <parent link=\"zed2i_left_camera_frame\"\
  />\n    <child link=\"zed2i_left_camera_optical_frame\"/>\n  </joint>\n  <!-- Right\
  \ Camera -->\n  <link name=\"zed2i_right_camera_frame\"/>\n  <joint name=\"zed2i_right_camera_joint\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_camera_center\"/>\n    <child link=\"\
  zed2i_right_camera_frame\"/>\n    <origin rpy=\"0 0 0\" xyz=\"-0.01 -0.06 0\"/>\n\
  \  </joint>\n  <link name=\"zed2i_right_camera_optical_frame\"/>\n  <joint name=\"\
  zed2i_right_camera_optical_joint\" type=\"fixed\">\n    <origin rpy=\"-1.5707963267948966\
  \ 0.0 -1.5707963267948966\" xyz=\"0 0 0\"/>\n    <parent link=\"zed2i_right_camera_frame\"\
  />\n    <child link=\"zed2i_right_camera_optical_frame\"/>\n  </joint>\n  <!-- Proximity\
  \ sensor macro -->\n  <!-- ********************** -->\n  <!-- Proximity sensor configuration\
  \ for sierra (dongle) -->\n  <!-- ***************************************************\
  \ -->\n  <!-- 2. Create proximity_sensor frame (attached to front_parent from config)\
  \ -->\n  <link name=\"proximity_sensor\">\n    <!-- 3. Create single collision element\
  \ with configured dimensions -->\n    <collision>\n      <geometry>\n        <box\
  \ size=\"1.0 2.0 1.0\"/>\n      </geometry>\n      <origin rpy=\"0 0 0\" xyz=\"\
  0 0 0\"/>\n    </collision>\n  </link>\n  <joint name=\"zed2i_left_camera_frame_to_proximity_sensor\"\
  \ type=\"fixed\">\n    <parent link=\"zed2i_left_camera_frame\"/>\n    <child link=\"\
  proximity_sensor\"/>\n    <origin rpy=\"0.0 0.0 0.0\" xyz=\"0.986 -0.06 -0.839\"\
  />\n  </joint>\n</robot>\n\n"
robot_state_publisher:
  publish_frequency: 0.1
ros_mqtt_parser:
  dynamic_subscription: true
  log_level: info
  mqtt_host: mqtts.fvla.natcsv.com
  mqtt_password: nrc_leaf_sierra_pass
  mqtt_port: 8883
  mqtt_qos: 0
  mqtt_tls: true
  mqtt_to_ros:
  - convertToJsonString: true
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/dispatch
    ros_topic: /cmd/dispatch
    useJsonFormat: false
    use_compression: false
  - convertToJsonString: false
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/VEHICLE_ID/safe_mode
    ros_topic: /cmd/safe_mode
    useJsonFormat: false
    use_compression: false
  - convertToJsonString: false
    message_type: std_msgs.msg.String
    mqtt_qos: 2
    mqtt_topic: cmd/tfc/vehicle/VEHICLE_ID/active_mode
    ros_topic: /cmd/active_mode
    useJsonFormat: false
    use_compression: false
  mqtt_user: NRC_Leaf_Sierra
  ros_to_mqtt:
  - message_type: std_msgs.msg.Byte
    mqtt_topic: dt/tfc/vehicle/VEHICLE_ID/safety_shield/status
    ros_topic: /safety_shield_status
    useJsonFormat: true
    use_compression: false
  - message_type: std_msgs.msg.String
    mqtt_topic: dt/tfc/vehicle/telemetry
    ros_topic: /vehicle_telemetry
    useJsonFormat: true
    use_compression: false
  - convertToJsonString: true
    message_type: std_msgs.msg.String
    mqtt_topic: dt/tfc/vehicle/VEHICLE_ID/drive_state
    ros_topic: /hm_drive_state_json
    useJsonFormat: false
    use_compression: false
rosdistro: 'noetic

  '
roslaunch:
  uris:
    host_sierra_mist_halibut_ts_net__33561: http://sierra.mist-halibut.ts.net:33561/
    host_sierra_mist_halibut_ts_net__34229: http://sierra.mist-halibut.ts.net:34229/
    host_sierra_mist_halibut_ts_net__36425: http://sierra.mist-halibut.ts.net:36425/
    host_sierra_mist_halibut_ts_net__36507: http://sierra.mist-halibut.ts.net:36507/
    host_sierra_mist_halibut_ts_net__37425: http://sierra.mist-halibut.ts.net:37425/
    host_sierra_mist_halibut_ts_net__37553: http://sierra.mist-halibut.ts.net:37553/
    host_sierra_mist_halibut_ts_net__38083: http://sierra.mist-halibut.ts.net:38083/
    host_sierra_mist_halibut_ts_net__40431: http://sierra.mist-halibut.ts.net:40431/
    host_sierra_mist_halibut_ts_net__42281: http://sierra.mist-halibut.ts.net:42281/
    host_sierra_mist_halibut_ts_net__42685: http://sierra.mist-halibut.ts.net:42685/
    host_sierra_mist_halibut_ts_net__43717: http://sierra.mist-halibut.ts.net:43717/
    host_sierra_mist_halibut_ts_net__43795: http://sierra.mist-halibut.ts.net:43795/
    host_sierra_mist_halibut_ts_net__45095: http://sierra.mist-halibut.ts.net:45095/
    host_sierra_mist_halibut_ts_net__46453: http://sierra.mist-halibut.ts.net:46453/
rosversion: '1.17.0

  '
route_data_file: /var/tmp/route_data.json
route_data_json: "{\n  \"start_point\": {\n    \"lon\": -121.98958628634765,\n   \
  \ \"lat\": 37.3767825375788,\n    \"yaw\": 1.644962639978907\n  },\n  \"start_junction\"\
  : {\n    \"_id\": \"69024ceb849867189cce87b9\",\n    \"site_id\": \"natcsv\",\n\
  \    \"type\": \"start\",\n    \"lat\": 37.376717886700206,\n    \"lon\": -121.98958779348474,\n\
  \    \"id\": \"parking_lot_bay_b_start\"\n  },\n  \"end_junction\": {\n    \"_id\"\
  : \"69024ceb849867189cce87ba\",\n    \"site_id\": \"natcsv\",\n    \"type\": \"\
  end\",\n    \"lat\": 37.37677230825225,\n    \"lon\": -121.98961663193393,\n   \
  \ \"id\": \"parking_lot_bay_a1_end\"\n  },\n  \"path_summary\": [\n    \"parking_lot_bay_b_start\"\
  ,\n    \"departure_segment_b\",\n    \"parking_lot_bays_exit\",\n    \"driving_segment_parking_lot\"\
  ,\n    \"parking_lot_bays_entrance\",\n    \"parking_segment_a1\",\n    \"parking_lot_bay_a1_end\"\
  \n  ],\n  \"decision_points\": [],\n  \"traj\": [\n    {\n      \"timestamp\": 1765233679.1845012,\n\
  \      \"lon\": -121.98959062102136,\n      \"lat\": 37.376740273241325,\n     \
  \ \"yaw_radians\": 1.4977055894851934,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.2044618,\n      \"lon\": -121.98959062102136,\n\
  \      \"lat\": 37.376740273241325,\n      \"yaw_radians\": 1.4977055894851934,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.2244842,\n  \
  \    \"lon\": -121.98959062102136,\n      \"lat\": 37.376740273241325,\n      \"\
  yaw_radians\": 1.4977055894851934,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.244474,\n      \"lon\": -121.98959062102136,\n\
  \      \"lat\": 37.376740273241325,\n      \"yaw_radians\": 1.4977055894851934,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.2644997,\n  \
  \    \"lon\": -121.98959062102136,\n      \"lat\": 37.376740273241325,\n      \"\
  yaw_radians\": 1.4977055894851934,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.2854185,\n      \"lon\": -121.98959062119498,\n\
  \      \"lat\": 37.37674027317168,\n      \"yaw_radians\": 1.4976974359577588,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.3054214,\n  \
  \    \"lon\": -121.98959062119498,\n      \"lat\": 37.37674027317168,\n      \"\
  yaw_radians\": 1.4976974359577588,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.3244338,\n      \"lon\": -121.98959062119498,\n\
  \      \"lat\": 37.37674027317168,\n      \"yaw_radians\": 1.4976974359577588,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.3454163,\n  \
  \    \"lon\": -121.98959062119498,\n      \"lat\": 37.37674027317168,\n      \"\
  yaw_radians\": 1.4976974359577588,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.3654282,\n      \"lon\": -121.9895906213694,\n\
  \      \"lat\": 37.37674027310213,\n      \"yaw_radians\": 1.4976892917984628,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.3853972,\n  \
  \    \"lon\": -121.9895906213694,\n      \"lat\": 37.37674027310213,\n      \"yaw_radians\"\
  : 1.4976892917984628,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.405392,\n      \"lon\": -121.9895906213694,\n      \"lat\": 37.37674027310213,\n\
  \      \"yaw_radians\": 1.4976892917984628,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.4244149,\n      \"lon\": -121.9895906213694,\n\
  \      \"lat\": 37.37674027310213,\n      \"yaw_radians\": 1.4976892917984628,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.444416,\n   \
  \   \"lon\": -121.9895906213694,\n      \"lat\": 37.37674027310213,\n      \"yaw_radians\"\
  : 1.4976892917984628,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.4654074,\n      \"lon\": -121.98959062154115,\n      \"lat\": 37.37674027303555,\n\
  \      \"yaw_radians\": 1.4976811489076474,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.4853725,\n      \"lon\": -121.98959062154115,\n\
  \      \"lat\": 37.37674027303555,\n      \"yaw_radians\": 1.4976811489076474,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.5053697,\n  \
  \    \"lon\": -121.98959062154115,\n      \"lat\": 37.37674027303555,\n      \"\
  yaw_radians\": 1.4976811489076474,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.5253563,\n      \"lon\": -121.98959062154115,\n\
  \      \"lat\": 37.37674027303555,\n      \"yaw_radians\": 1.4976811489076474,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.5453835,\n  \
  \    \"lon\": -121.98959062154115,\n      \"lat\": 37.37674027303555,\n      \"\
  yaw_radians\": 1.4976811489076474,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.5653074,\n      \"lon\": -121.98959062171507,\n\
  \      \"lat\": 37.37674027296975,\n      \"yaw_radians\": 1.4976730209009084,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.5843005,\n  \
  \    \"lon\": -121.98959062171507,\n      \"lat\": 37.37674027296975,\n      \"\
  yaw_radians\": 1.4976730209009084,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.6052985,\n      \"lon\": -121.98959062171507,\n\
  \      \"lat\": 37.37674027296975,\n      \"yaw_radians\": 1.4976730209009084,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.625308,\n   \
  \   \"lon\": -121.98959062171507,\n      \"lat\": 37.37674027296975,\n      \"yaw_radians\"\
  : 1.4976730209009084,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.6452699,\n      \"lon\": -121.98959062171507,\n      \"lat\": 37.37674027296975,\n\
  \      \"yaw_radians\": 1.4976730209009084,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.664794,\n      \"lon\": -121.98959062171507,\n\
  \      \"lat\": 37.37674027296975,\n      \"yaw_radians\": 1.4976730209009084,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.6842577,\n  \
  \    \"lon\": -121.98959062188236,\n      \"lat\": 37.37674027291863,\n      \"\
  yaw_radians\": 1.4976648973128153,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.7052693,\n      \"lon\": -121.98959062188236,\n\
  \      \"lat\": 37.37674027291863,\n      \"yaw_radians\": 1.4976648973128153,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.7242856,\n  \
  \    \"lon\": -121.98959062188236,\n      \"lat\": 37.37674027291863,\n      \"\
  yaw_radians\": 1.4976648973128153,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.7448227,\n      \"lon\": -121.98959062188236,\n\
  \      \"lat\": 37.37674027291863,\n      \"yaw_radians\": 1.4976648973128153,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.7652307,\n  \
  \    \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n      \"yaw_radians\"\
  : 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.7852008,\n      \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n\
  \      \"yaw_radians\": 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.805208,\n      \"lon\": -121.9895906220506,\n\
  \      \"lat\": 37.3767402729036,\n      \"yaw_radians\": 1.4976568346445283,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.8251922,\n  \
  \    \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n      \"yaw_radians\"\
  : 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.8451746,\n      \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n\
  \      \"yaw_radians\": 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.865186,\n      \"lon\": -121.9895906222118,\n\
  \      \"lat\": 37.376740272960845,\n      \"yaw_radians\": 1.4976488570385083,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.8851798,\n  \
  \    \"lon\": -121.9895906222118,\n      \"lat\": 37.376740272960845,\n      \"\
  yaw_radians\": 1.4976488570385083,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.905146,\n      \"lon\": -121.9895906222118,\n \
  \     \"lat\": 37.376740272960845,\n      \"yaw_radians\": 1.4976488570385083,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.9249954,\n  \
  \    \"lon\": -121.98959061956185,\n      \"lat\": 37.37674030159393,\n      \"\
  yaw_radians\": 1.497616299540328,\n      \"speed\": 0.15538775413583766,\n     \
  \ \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233679.9451818,\n      \"lon\": -121.98959061407614,\n\
  \      \"lat\": 37.37674036084179,\n      \"yaw_radians\": 1.4975494790436583,\n\
  \      \"speed\": 0.3161685756603378,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.965108,\n      \"lon\": -121.98959060865621,\n      \"lat\": 37.37674041932567,\n\
  \      \"yaw_radians\": 1.4974843312257695,\n      \"speed\": 0.3161685756603378,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233679.985211,\n      \"lon\": -121.98959060283447,\n\
  \      \"lat\": 37.376740484030464,\n      \"yaw_radians\": 1.4974064324857632,\n\
  \      \"speed\": 0.34583044629798143,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.0052257,\n      \"lon\": -121.98959059922035,\n      \"lat\": 37.37674052297228,\n\
  \      \"yaw_radians\": 1.4973680899306199,\n      \"speed\": 0.36369498202292583,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.0252888,\n      \"lon\": -121.9895905953,\n\
  \      \"lat\": 37.37674056518013,\n      \"yaw_radians\": 1.4973293138242152,\n\
  \      \"speed\": 0.39099738567802966,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.0451121,\n      \"lon\": -121.98959058822363,\n      \"lat\": 37.37674064130661,\n\
  \      \"yaw_radians\": 1.4972558865596057,\n      \"speed\": 0.40953605482655697,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.064432,\n      \"lon\": -121.98959058160857,\n\
  \      \"lat\": 37.37674071239244,\n      \"yaw_radians\": 1.4971961578001307,\n\
  \      \"speed\": 0.42874885739866697,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.0842407,\n      \"lon\": -121.98959057426052,\n      \"lat\": 37.376740791294694,\n\
  \      \"yaw_radians\": 1.4971291681756438,\n      \"speed\": 0.4456021929882372,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.1052,\n      \"lon\": -121.98959056638702,\n\
  \      \"lat\": 37.376740875760774,\n      \"yaw_radians\": 1.4970628926619074,\n\
  \      \"speed\": 0.46110726173064187,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.1240633,\n      \"lon\": -121.98959055884272,\n      \"lat\": 37.37674095661796,\n\
  \      \"yaw_radians\": 1.4970026359834088,\n      \"speed\": 0.47627526376125506,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.1450145,\n      \"lon\": -121.98959055006645,\n\
  \      \"lat\": 37.376741050599556,\n      \"yaw_radians\": 1.4969363483964815,\n\
  \      \"speed\": 0.49110619908007697,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.1643143,\n      \"lon\": -121.98959054208278,\n      \"lat\": 37.376741136014196,\n\
  \      \"yaw_radians\": 1.4968791057388429,\n      \"speed\": 0.5049259342635246,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.1842728,\n      \"lon\": -121.9895905333863,\n\
  \      \"lat\": 37.376741224612225,\n      \"yaw_radians\": 1.496857806761822,\n\
  \      \"speed\": 0.5187456694469721,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.20503,\n      \"lon\": -121.98959052321791,\n      \"lat\": 37.376741333283526,\n\
  \      \"yaw_radians\": 1.4967897064597724,\n      \"speed\": 0.5312171377832541,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.2240882,\n      \"lon\": -121.98959051535607,\n\
  \      \"lat\": 37.37674141723308,\n      \"yaw_radians\": 1.496740581681144,\n\
  \      \"speed\": 0.5430144726959533,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.2450438,\n      \"lon\": -121.98959050464612,\n      \"lat\": 37.37674153152137,\n\
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  \ \"yaw_radians\": 3.133457377522196,\n      \"speed\": 0,\n      \"segment_id\"\
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  \ \"yaw_radians\": 3.133457377522196,\n      \"speed\": 0,\n      \"segment_id\"\
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  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  yaw_radians\": 3.133517263827637,\n      \"speed\": 0.36740271585263135,\n     \
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  yaw_radians\": 3.1335483158481687,\n      \"speed\": 0.4297600575340412,\n     \
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  yaw_radians\": 3.1335443701220944,\n      \"speed\": 0.4742528634905067,\n     \
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  \ \"yaw_radians\": 3.1335640343989133,\n      \"speed\": 0.513689668770101,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  : 3.133561468020408,\n      \"speed\": 0.522790469988469,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
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  \ \"yaw_radians\": 3.13355595545984,\n      \"speed\": 0.5767211438750938,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233711.178061,\n      \"lon\": -121.98985999817329,\n\
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  yaw_radians\": 3.1335931499607503,\n      \"speed\": 0.6350336850150069,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 3.1335867046298946,\n      \"speed\": 0.6815488912422207,\n     \
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  yaw_radians\": 3.1336897812696947,\n      \"speed\": 0.7246934303515207,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 3.133682212097023,\n      \"speed\": 0.7654785024782806,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 3.1336369389309313,\n      \"speed\": 1.1167020161649244,\n     \
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  \ \"yaw_radians\": 3.13362437992762,\n      \"speed\": 1.1571500215798929,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233711.738019,\n      \"lon\": -121.98986586133972,\n\
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  yaw_radians\": 3.1335772362060816,\n      \"speed\": 1.2255745640735483,\n     \
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  yaw_radians\": 3.1335029801675574,\n      \"speed\": 1.3290540445935095,\n     \
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  yaw_radians\": 3.133476144827543,\n      \"speed\": 1.3630977824844415,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233711.978283,\n      \"lon\": -121.98986942956348,\n\
  \      \"lat\": 37.376845788763646,\n      \"yaw_radians\": 3.133274098727833,\n\
  \      \"speed\": 1.3819735183447601,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233711.9983594,\n\
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  yaw_radians\": 3.1332549605933546,\n      \"speed\": 1.3988268539343305,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.018388,\n      \"lon\": -121.98987008779365,\n\
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  \      \"speed\": 1.4190508566418143,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.037664,\n\
  \      \"lon\": -121.98987039116425,\n      \"lat\": 37.37684579559886,\n      \"\
  yaw_radians\": 3.1332122617076705,\n      \"speed\": 1.4402860594846731,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.0583847,\n      \"lon\": -121.9898707467037,\n\
  \      \"lat\": 37.376845798138085,\n      \"yaw_radians\": 3.133182248672388,\n\
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  yaw_radians\": 3.1330857853463576,\n      \"speed\": 1.4753409975109792,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.0974748,\n      \"lon\": -121.98987141864262,\n\
  \      \"lat\": 37.37684580309355,\n      \"yaw_radians\": 3.1330483488376064,\n\
  \      \"speed\": 1.486127132288304,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.1184437,\n\
  \      \"lon\": -121.9898717958965,\n      \"lat\": 37.376845805834385,\n      \"\
  yaw_radians\": 3.132998402350719,\n      \"speed\": 1.5110700689608678,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.1376417,\n      \"lon\": -121.98987210939171,\n\
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  \      \"speed\": 1.5215191370264016,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.1576335,\n\
  \      \"lon\": -121.98987247538801,\n      \"lat\": 37.376845810811695,\n     \
  \ \"yaw_radians\": 3.132877177397919,\n      \"speed\": 1.5420802064456773,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233712.1776898,\n      \"lon\":\
  \ -121.98987285915092,\n      \"lat\": 37.37684581291229,\n      \"yaw_radians\"\
  : 3.1329541813040467,\n      \"speed\": 1.5555628749173338,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233712.1976044,\n      \"lon\": -121.98987318644292,\n\
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  \      \"lon\": -121.98987359026611,\n      \"lat\": 37.376845818298555,\n     \
  \ \"yaw_radians\": 3.132732888128753,\n      \"speed\": 1.594999680196928,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233712.2376704,\n      \"lon\":\
  \ -121.98987394500982,\n      \"lat\": 37.37684582095582,\n      \"yaw_radians\"\
  : 3.132596768088795,\n      \"speed\": 1.6088194153803757,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233712.257916,\n      \"lon\": -121.98987432522256,\n\
  \      \"lat\": 37.3768458238424,\n      \"yaw_radians\": 3.1324313433407545,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.2778368,\n\
  \      \"lon\": -121.98987470969335,\n      \"lat\": 37.37684582564643,\n      \"\
  yaw_radians\": 3.1324480672183044,\n      \"speed\": 1.6421890198477245,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.2977915,\n      \"lon\": -121.98987508736236,\n\
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  \      \"speed\": 1.6593794221490863,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.317805,\n\
  \      \"lon\": -121.98987547910721,\n      \"lat\": 37.37684583162907,\n      \"\
  yaw_radians\": 3.131991286516852,\n      \"speed\": 1.6725250239089513,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.3377903,\n      \"lon\": -121.98987586216546,\n\
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  \      \"speed\": 1.6900524929221041,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.3578649,\n\
  \      \"lon\": -121.98987626813955,\n      \"lat\": 37.376845837324446,\n     \
  \ \"yaw_radians\": 3.13150786827946,\n      \"speed\": 1.7015127611230119,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233712.3777497,\n      \"lon\":\
  \ -121.9898766622603,\n      \"lat\": 37.37684584064372,\n      \"yaw_radians\"\
  : 3.131176488806562,\n      \"speed\": 1.7193772968479561,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233712.3977377,\n      \"lon\": -121.98987706289658,\n\
  \      \"lat\": 37.37684584412361,\n      \"yaw_radians\": 3.1308071785907465,\n\
  \      \"speed\": 1.736567699149318,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.417792,\n\
  \      \"lon\": -121.98987746910053,\n      \"lat\": 37.37684584776942,\n      \"\
  yaw_radians\": 3.130401388528836,\n      \"speed\": 1.751735701179931,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.4377346,\n      \"lon\": -121.98987787649965,\n\
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  \      \"speed\": 1.77061143704025,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.45775,\n\
  \      \"lon\": -121.98987829766256,\n      \"lat\": 37.376845855602845,\n     \
  \ \"yaw_radians\": 3.1294443921650945,\n      \"speed\": 1.7871277059180288,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.4777358,\n      \"lon\"\
  : -121.98987871186124,\n      \"lat\": 37.376845859766334,\n      \"yaw_radians\"\
  : 3.1289104083420725,\n      \"speed\": 1.802969841372225,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233712.4977734,\n      \"lon\": -121.9898791315509,\n\
  \      \"lat\": 37.37684586416332,\n      \"yaw_radians\": 3.1283233405160584,\n\
  \      \"speed\": 1.8167895765556719,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.5177164,\n\
  \      \"lon\": -121.98987955485387,\n      \"lat\": 37.37684586878941,\n      \"\
  yaw_radians\": 3.1276870250879196,\n      \"speed\": 1.8289239781801627,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.5377312,\n      \"lon\": -121.9898799783889,\n\
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  \      \"speed\": 1.837350645974948,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.5577455,\n\
  \      \"lon\": -121.98988041212587,\n      \"lat\": 37.376845878935804,\n     \
  \ \"yaw_radians\": 3.126215733267778,\n      \"speed\": 1.8518445145819786,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233712.5777488,\n      \"lon\":\
  \ -121.9898808413228,\n      \"lat\": 37.3768458843367,\n      \"yaw_radians\":\
  \ 3.1254112351520775,\n      \"speed\": 1.8582487821060152,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233712.597825,\n      \"lon\": -121.98988127678157,\n\
  \      \"lat\": 37.37684589009073,\n      \"yaw_radians\": 3.124541835817011,\n\
  \      \"speed\": 1.8633047827828861,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.617598,\n\
  \      \"lon\": -121.98988170576605,\n      \"lat\": 37.376845896051975,\n     \
  \ \"yaw_radians\": 3.1236276692191542,\n      \"speed\": 1.875439184407377,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233712.63771,\n      \"lon\": -121.98988214449464,\n\
  \      \"lat\": 37.37684590246714,\n      \"yaw_radians\": 3.1226303532848614,\n\
  \      \"speed\": 1.884877052337536,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.657713,\n\
  \      \"lon\": -121.98988258849133,\n      \"lat\": 37.37684590940936,\n      \"\
  yaw_radians\": 3.121524692225645,\n      \"speed\": 1.8936407868441125,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.6776752,\n      \"lon\": -121.98988302836209,\n\
  \      \"lat\": 37.37684591657603,\n      \"yaw_radians\": 3.1203952364296272,\n\
  \      \"speed\": 1.901393321215315,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.6977205,\n\
  \      \"lon\": -121.98988347898475,\n      \"lat\": 37.37684592431852,\n      \"\
  yaw_radians\": 3.119170857353028,\n      \"speed\": 1.9115053225690568,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.717343,\n      \"lon\": -121.98988390713609,\n\
  \      \"lat\": 37.37684593209201,\n      \"yaw_radians\": 3.117933582782303,\n\
  \      \"speed\": 1.9131906561280139,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.737674,\n\
  \      \"lon\": -121.98988436330156,\n      \"lat\": 37.37684594082197,\n      \"\
  yaw_radians\": 3.1165464555985776,\n      \"speed\": 1.9226285240581733,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.7576857,\n      \"lon\": -121.98988481518707,\n\
  \      \"lat\": 37.37684594835305,\n      \"yaw_radians\": 3.1152537185821405,\n\
  \      \"speed\": 1.928021591446836,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.7777085,\n\
  \      \"lon\": -121.98988526284516,\n      \"lat\": 37.376845957867694,\n     \
  \ \"yaw_radians\": 3.1137475439529547,\n      \"speed\": 1.9354370591062466,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.7976823,\n      \"lon\"\
  : -121.98988572433998,\n      \"lat\": 37.37684596822844,\n      \"yaw_radians\"\
  : 3.112124810823661,\n      \"speed\": 1.9428525267656578,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233712.8171685,\n      \"lon\": -121.989886149084,\n\
  \      \"lat\": 37.376845978318805,\n      \"yaw_radians\": 3.1105451083426066,\n\
  \      \"speed\": 1.9489197275779027,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.837691,\n\
  \      \"lon\": -121.98988662289146,\n      \"lat\": 37.376845990166835,\n     \
  \ \"yaw_radians\": 3.108717228817532,\n      \"speed\": 1.9556610618137311,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233712.857677,\n      \"lon\": -121.9898870777436,\n\
  \      \"lat\": 37.37684600220412,\n      \"yaw_radians\": 3.106879444478505,\n\
  \      \"speed\": 1.9607170624906023,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.8776562,\n\
  \      \"lon\": -121.98988753868457,\n      \"lat\": 37.376846014571,\n      \"\
  yaw_radians\": 3.1049371730693127,\n      \"speed\": 1.971503197267927,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.8976724,\n      \"lon\": -121.98988800934735,\n\
  \      \"lat\": 37.376846028443325,\n      \"yaw_radians\": 3.102870398771213,\n\
  \      \"speed\": 1.9758850645212152,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.917032,\n\
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  yaw_radians\": 3.1009145889303396,\n      \"speed\": 1.9819522653334607,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.9376328,\n      \"lon\": -121.98988892025054,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.9576163,\n\
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  yaw_radians\": 3.0961184594091344,\n      \"speed\": 1.9920642666872026,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233712.9776165,\n      \"lon\": -121.98988984776221,\n\
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  \      \"speed\": 1.998131467499448,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233712.997622,\n\
  \      \"lon\": -121.98989032801192,\n      \"lat\": 37.37684610988632,\n      \"\
  yaw_radians\": 3.091116155854772,\n      \"speed\": 2.001502134617362,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.0178394,\n      \"lon\": -121.98989076974397,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.0375943,\n\
  \      \"lon\": -121.98989124614775,\n      \"lat\": 37.376846148010955,\n     \
  \ \"yaw_radians\": 3.0858314057194836,\n      \"speed\": 2.0102658691239395,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.057614,\n      \"lon\"\
  : -121.98989171543063,\n      \"lat\": 37.3768461668456,\n      \"yaw_radians\"\
  : 3.083028446663786,\n      \"speed\": 2.0099288024121478,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233713.0776045,\n      \"lon\": -121.98989218190755,\n\
  \      \"lat\": 37.37684618873356,\n      \"yaw_radians\": 3.08010284528373,\n \
  \     \"speed\": 2.007906402141398,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.0975885,\n\
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  yaw_radians\": 3.077115603919465,\n      \"speed\": 2.006221068582442,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.1178298,\n      \"lon\": -121.98989312515809,\n\
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  \      \"speed\": 2.0062210685824424,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.1370285,\n\
  \      \"lon\": -121.98989356652093,\n      \"lat\": 37.37684626028503,\n      \"\
  yaw_radians\": 3.0708532591126994,\n      \"speed\": 2.002850401464528,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.1576273,\n      \"lon\": -121.98989405060111,\n\
  \      \"lat\": 37.37684628074819,\n      \"yaw_radians\": 3.0677598271029547,\n\
  \      \"speed\": 2.000828001193779,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.1776032,\n\
  \      \"lon\": -121.98989451597807,\n      \"lat\": 37.376846308288,\n      \"\
  yaw_radians\": 3.064358564460103,\n      \"speed\": 2.000490934481988,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.197588,\n      \"lon\": -121.98989497467608,\n\
  \      \"lat\": 37.37684633668371,\n      \"yaw_radians\": 3.0609141839414287,\n\
  \      \"speed\": 1.9994797343466135,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.2176037,\n\
  \      \"lon\": -121.98989546369236,\n      \"lat\": 37.37684636830855,\n      \"\
  yaw_radians\": 3.0571656399174123,\n      \"speed\": 1.9937496002461597,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.2378047,\n      \"lon\": -121.98989590071261,\n\
  \      \"lat\": 37.37684639790612,\n      \"yaw_radians\": 3.053699638921487,\n\
  \      \"speed\": 1.9981314674994484,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.2576046,\n\
  \      \"lon\": -121.98989637333052,\n      \"lat\": 37.37684643121197,\n      \"\
  yaw_radians\": 3.0499084469811124,\n      \"speed\": 1.9910530665518285,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.277601,\n      \"lon\": -121.98989684121068,\n\
  \      \"lat\": 37.376846452045484,\n      \"yaw_radians\": 3.0468168597580467,\n\
  \      \"speed\": 1.9967832006522825,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.297596,\n\
  \      \"lon\": -121.98989730472248,\n      \"lat\": 37.37684648729253,\n      \"\
  yaw_radians\": 3.0429253705586805,\n      \"speed\": 1.9937496002461597,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.31762,\n      \"lon\": -121.98989776334747,\n\
  \      \"lat\": 37.37684652361501,\n      \"yaw_radians\": 3.038983443284325,\n\
  \      \"speed\": 1.9961090672286996,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.3378286,\n\
  \      \"lon\": -121.989898240243,\n      \"lat\": 37.37684656290806,\n      \"\
  yaw_radians\": 3.034803221467029,\n      \"speed\": 1.9873453327221233,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.3576152,\n      \"lon\": -121.98989868987239,\n\
  \      \"lat\": 37.376846601473495,\n      \"yaw_radians\": 3.030774980456756,\n\
  \      \"speed\": 1.9849858657395834,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.3775988,\n\
  \      \"lon\": -121.98989915739298,\n      \"lat\": 37.37684662687815,\n      \"\
  yaw_radians\": 3.0273909649402313,\n      \"speed\": 1.985659999163166,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.3975964,\n      \"lon\": -121.9898996171727,\n\
  \      \"lat\": 37.37684666905554,\n      \"yaw_radians\": 3.023133467590581,\n\
  \      \"speed\": 1.9893677329928714,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.4175882,\n\
  \      \"lon\": -121.98990007386605,\n      \"lat\": 37.376846712527694,\n     \
  \ \"yaw_radians\": 3.0188276220085952,\n      \"speed\": 1.981952265333461,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233713.4377503,\n      \"lon\":\
  \ -121.989900544815,\n      \"lat\": 37.37684675899734,\n      \"yaw_radians\":\
  \ 3.0143152885276905,\n      \"speed\": 1.9738626642504673,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233713.457614,\n      \"lon\": -121.98990100231869,\n\
  \      \"lat\": 37.376846791587305,\n      \"yaw_radians\": 3.010490497208058,\n\
  \      \"speed\": 1.975547997809424,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.4776182,\n\
  \      \"lon\": -121.98990145663879,\n      \"lat\": 37.37684683950017,\n      \"\
  yaw_radians\": 3.005975474813504,\n      \"speed\": 1.969143730285387,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.4976463,\n      \"lon\": -121.98990191239356,\n\
  \      \"lat\": 37.3768468892351,\n      \"yaw_radians\": 3.001371414629298,\n \
  \     \"speed\": 1.9610541292023937,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.5176196,\n\
  \      \"lon\": -121.98990236250933,\n      \"lat\": 37.37684694003864,\n      \"\
  yaw_radians\": 2.9967481167159296,\n      \"speed\": 1.9600429290670194,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.5377815,\n      \"lon\": -121.98990282274954,\n\
  \      \"lat\": 37.37684699371673,\n      \"yaw_radians\": 2.9919448028964193,\n\
  \      \"speed\": 1.9502679944250687,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.557636,\n\
  \      \"lon\": -121.9899032752808,\n      \"lat\": 37.37684703175648,\n      \"\
  yaw_radians\": 2.9878281323909226,\n      \"speed\": 1.9435266601892403,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.5776157,\n      \"lon\": -121.989903720983,\n\
  \      \"lat\": 37.37684708698367,\n      \"yaw_radians\": 2.9830241076366977,\n\
  \      \"speed\": 1.9297069250057932,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.5976331,\n\
  \      \"lon\": -121.98990416688177,\n      \"lat\": 37.37684714398774,\n      \"\
  yaw_radians\": 2.9781442453879095,\n      \"speed\": 1.9276845247350443,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.6176372,\n      \"lon\": -121.98990460641623,\n\
  \      \"lat\": 37.37684720193325,\n      \"yaw_radians\": 2.9732633213634063,\n\
  \      \"speed\": 1.9179095900930934,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.6368015,\n\
  \      \"lon\": -121.98990503570168,\n      \"lat\": 37.37684726024476,\n      \"\
  yaw_radians\": 2.9684347359027727,\n      \"speed\": 1.9098199890101002,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.6576202,\n      \"lon\": -121.98990549055807,\n\
  \      \"lat\": 37.37684732384415,\n      \"yaw_radians\": 2.9632386663079635,\n\
  \      \"speed\": 1.900045054368149,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.6775115,\n\
  \      \"lon\": -121.98990593179519,\n      \"lat\": 37.376847367546624,\n     \
  \ \"yaw_radians\": 2.9589189138883762,\n      \"speed\": 1.8902701197261982,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.697635,\n      \"lon\"\
  : -121.98990636906002,\n      \"lat\": 37.376847432118254,\n      \"yaw_radians\"\
  : 2.9537890642111138,\n      \"speed\": 1.8835287854903702,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233713.7174845,\n      \"lon\": -121.98990681615099,\n\
  \      \"lat\": 37.37684750003921,\n      \"yaw_radians\": 2.948481122088821,\n\
  \      \"speed\": 1.8767874512545424,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.7376456,\n\
  \      \"lon\": -121.98990721201072,\n      \"lat\": 37.37684756193353,\n      \"\
  yaw_radians\": 2.943701749299804,\n      \"speed\": 1.8619565159357205,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.7574656,\n      \"lon\": -121.98990766639163,\n\
  \      \"lat\": 37.37684761131107,\n      \"yaw_radians\": 2.9391296073524127,\n\
  \      \"speed\": 1.8575746486824323,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.7774782,\n\
  \      \"lon\": -121.98990808403103,\n      \"lat\": 37.37684767984401,\n      \"\
  yaw_radians\": 2.9339910237903406,\n      \"speed\": 1.8417325132282365,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.7974455,\n      \"lon\": -121.98990851069175,\n\
  \      \"lat\": 37.376847751680394,\n      \"yaw_radians\": 2.9286911405161185,\n\
  \      \"speed\": 1.8397101129574878,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.8174589,\n\
  \      \"lon\": -121.98990892392862,\n      \"lat\": 37.37684782309461,\n      \"\
  yaw_radians\": 2.9234983215448214,\n      \"speed\": 1.825553311062249,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.8374848,\n      \"lon\": -121.98990934844373,\n\
  \      \"lat\": 37.37684789830233,\n      \"yaw_radians\": 2.918114346305922,\n\
  \      \"speed\": 1.8255533110622484,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.8574693,\n\
  \      \"lon\": -121.98990976045629,\n      \"lat\": 37.376847973161595,\n     \
  \ \"yaw_radians\": 2.912833057669917,\n      \"speed\": 1.814767176284924,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233713.8775027,\n      \"lon\":\
  \ -121.98991018686819,\n      \"lat\": 37.37684802294906,\n      \"yaw_radians\"\
  : 2.9085489901146593,\n      \"speed\": 1.80903704218447,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233713.8974411,\n      \"lon\": -121.98991059576478,\n\
  \      \"lat\": 37.37684810053678,\n      \"yaw_radians\": 2.90321383325057,\n \
  \     \"speed\": 1.7972397072717707,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.9174283,\n\
  \      \"lon\": -121.98991100123746,\n      \"lat\": 37.37684817930197,\n      \"\
  yaw_radians\": 2.8978785333410735,\n      \"speed\": 1.7911725064595259,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233713.9374306,\n      \"lon\": -121.98991140821157,\n\
  \      \"lat\": 37.3768482601986,\n      \"yaw_radians\": 2.892480220525173,\n \
  \     \"speed\": 1.783082905376532,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.9573886,\n\
  \      \"lon\": -121.98991182223142,\n      \"lat\": 37.376848317372776,\n     \
  \ \"yaw_radians\": 2.8879044465734762,\n      \"speed\": 1.7753303710053296,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233713.977417,\n      \"lon\"\
  : -121.9899122267216,\n      \"lat\": 37.37684840120895,\n      \"yaw_radians\"\
  : 2.882456262089132,\n      \"speed\": 1.7685890367695014,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233713.9974508,\n      \"lon\": -121.98991262403081,\n\
  \      \"lat\": 37.376848485406626,\n      \"yaw_radians\": 2.877057339476496,\n\
  \      \"speed\": 1.7574658352803854,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.017398,\n\
  \      \"lon\": -121.98991301897247,\n      \"lat\": 37.376848570928914,\n     \
  \ \"yaw_radians\": 2.871643094824631,\n      \"speed\": 1.7520727678917225,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233714.0376215,\n      \"lon\":\
  \ -121.98991341880725,\n      \"lat\": 37.37684865937147,\n      \"yaw_radians\"\
  : 2.866109015792832,\n      \"speed\": 1.7473538339266428,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233714.0574005,\n      \"lon\": -121.98991381691303,\n\
  \      \"lat\": 37.376848725365484,\n      \"yaw_radians\": 2.8611890558258373,\n\
  \      \"speed\": 1.7369047658611094,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.0773983,\n\
  \      \"lon\": -121.98991420759576,\n      \"lat\": 37.376848815298516,\n     \
  \ \"yaw_radians\": 2.8556805650097643,\n      \"speed\": 1.732522898607821,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233714.0973952,\n      \"lon\":\
  \ -121.989914595514,\n      \"lat\": 37.376848906442895,\n      \"yaw_radians\"\
  : 2.8501554935204,\n      \"speed\": 1.720725563695122,\n      \"segment_id\": \"\
  driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n    {\n\
  \      \"timestamp\": 1765233714.1173813,\n      \"lon\": -121.98991497452612,\n\
  \      \"lat\": 37.37684899731102,\n      \"yaw_radians\": 2.844699396609124,\n\
  \      \"speed\": 1.7170178298654166,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.1376007,\n\
  \      \"lon\": -121.98991537100451,\n      \"lat\": 37.37684909424736,\n      \"\
  yaw_radians\": 2.8389365322669136,\n      \"speed\": 1.7096023622060055,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.1573951,\n      \"lon\": -121.9899157548657,\n\
  \      \"lat\": 37.376849166574175,\n      \"yaw_radians\": 2.833860482776994,\n\
  \      \"speed\": 1.702523961258386,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.1773858,\n\
  \      \"lon\": -121.98991613430802,\n      \"lat\": 37.37684926294113,\n      \"\
  yaw_radians\": 2.8282195679276305,\n      \"speed\": 1.6957826270225578,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.1973698,\n      \"lon\": -121.98991650855298,\n\
  \      \"lat\": 37.376849359844854,\n      \"yaw_radians\": 2.822591899129092,\n\
  \      \"speed\": 1.6833111586862761,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.2173746,\n\
  \      \"lon\": -121.98991687795292,\n      \"lat\": 37.376849457330074,\n     \
  \ \"yaw_radians\": 2.8169722038153404,\n      \"speed\": 1.679940491568362,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233714.2375507,\n      \"lon\":\
  \ -121.9899172615143,\n      \"lat\": 37.37684956046019,\n      \"yaw_radians\"\
  : 2.811078299933458,\n      \"speed\": 1.6769068911622393,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233714.2573588,\n      \"lon\": -121.9899176240444,\n\
  \      \"lat\": 37.376849659837426,\n      \"yaw_radians\": 2.8054405948208396,\n\
  \      \"speed\": 1.6691543567910372,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.2773142,\n\
  \      \"lon\": -121.98991800416668,\n      \"lat\": 37.37684973876829,\n      \"\
  yaw_radians\": 2.8001722574304058,\n      \"speed\": 1.6644354228259572,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.297356,\n      \"lon\": -121.98991836970656,\n\
  \      \"lat\": 37.376849842540864,\n      \"yaw_radians\": 2.7943705576126274,\n\
  \      \"speed\": 1.6580311553019205,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.3175526,\n\
  \      \"lon\": -121.98991873430921,\n      \"lat\": 37.37684994795629,\n      \"\
  yaw_radians\": 2.788521802662413,\n      \"speed\": 1.657357021878338,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.336772,\n      \"lon\": -121.98991911167019,\n\
  \      \"lat\": 37.37685003845595,\n      \"yaw_radians\": 2.7828256159037847,\n\
  \      \"speed\": 1.6519639544896754,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.357365,\n\
  \      \"lon\": -121.98991948119388,\n      \"lat\": 37.37685014916804,\n      \"\
  yaw_radians\": 2.7767797697440124,\n      \"speed\": 1.65061568764251,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.3773718,\n      \"lon\": -121.98991983978506,\n\
  \      \"lat\": 37.376850258585456,\n      \"yaw_radians\": 2.7708534098589537,\n\
  \      \"speed\": 1.64589675367743,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.397312,\n\
  \      \"lon\": -121.98992019338496,\n      \"lat\": 37.37685036840138,\n      \"\
  yaw_radians\": 2.764951138322971,\n      \"speed\": 1.6435372866948905,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.4172945,\n      \"lon\": -121.989920568461,\n\
  \      \"lat\": 37.37685048693127,\n      \"yaw_radians\": 2.758633084915031,\n\
  \      \"speed\": 1.6445484868302644,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.4365313,\n\
  \      \"lon\": -121.9899208864314,\n      \"lat\": 37.37685058928584,\n      \"\
  yaw_radians\": 2.7532054655344194,\n      \"speed\": 1.6445484868302644,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 2.7282740587748977,\n      \"speed\": 1.6246615508345712,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 2.659293995149278,\n      \"speed\": 1.60511168155067,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 2.6459126998873677,\n      \"speed\": 1.6007298142973818,\n     \
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  \ \"yaw_radians\": 2.6326362177561196,\n      \"speed\": 1.594325546773345,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 2.6132321133791834,\n      \"speed\": 1.5865730124021429,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1765233714.9171658,\n      \"lon\": -121.9899290052016,\n\
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  \ \"yaw_radians\": 2.5937127723964086,\n      \"speed\": 1.5882583459611002,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1765233714.9771903,\n      \"lon\": -121.98992994379567,\n\
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  yaw_radians\": 2.57257651323018,\n      \"speed\": 1.585224745554977,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.0180786,\n      \"lon\": -121.98993059179125,\n\
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  \      \"speed\": 1.5821911451488546,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.559456501071306,\n      \"speed\": 1.5811799450134805,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.0572155,\n      \"lon\": -121.98993117973274,\n\
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  yaw_radians\": 2.54560793150801,\n      \"speed\": 1.5784834113191493,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.097189,\n      \"lon\": -121.9899317746447,\n\
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  \      \"lon\": -121.98993210251177,\n      \"lat\": 37.376855223051486,\n     \
  \ \"yaw_radians\": 2.5318588988283834,\n      \"speed\": 1.5741015440658603,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.1369998,\n      \"lon\"\
  : -121.98993238664782,\n      \"lat\": 37.376855381620054,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1765233715.1572626,\n      \"lon\": -121.98993268194182,\n\
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  yaw_radians\": 2.511660715309584,\n      \"speed\": 1.5757868776248176,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.1973095,\n      \"lon\": -121.98993328231859,\n\
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  \      \"speed\": 1.574775677489444,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"lon\": -121.98993357015341,\n      \"lat\": 37.376856038706286,\n     \
  \ \"yaw_radians\": 2.4982007168363656,\n      \"speed\": 1.5771351444719834,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.2374578,\n      \"lon\"\
  : -121.98993386703219,\n      \"lat\": 37.37685621656119,\n      \"yaw_radians\"\
  : 2.491358395137269,\n      \"speed\": 1.576798077760192,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233715.2578213,\n      \"lon\": -121.98993416781384,\n\
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  yaw_radians\": 2.477826211547432,\n      \"speed\": 1.5784834113191493,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.2971926,\n      \"lon\": -121.98993474326114,\n\
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  \      \"speed\": 1.58117994501348,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.4655123699807158,\n      \"speed\": 1.5838764787078117,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.337118,\n      \"lon\": -121.98993528005926,\n\
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  yaw_radians\": 2.451389163981033,\n      \"speed\": 1.590280746231848,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.3772376,\n      \"lon\": -121.98993584526367,\n\
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  yaw_radians\": 2.4377561183582803,\n      \"speed\": 1.5943255467733448,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.4168956,\n      \"lon\": -121.98993640627847,\n\
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  \      \"speed\": 1.5966850137558848,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"lon\": -121.98993669201089,\n      \"lat\": 37.376857959500086,\n     \
  \ \"yaw_radians\": 2.4242464885679027,\n      \"speed\": 1.6003927475855908,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.4572935,\n      \"lon\"\
  : -121.98993696150394,\n      \"lat\": 37.376858118240044,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1765233715.4773264,\n      \"lon\": -121.98993724029017,\n\
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  \      \"lon\": -121.98993752525105,\n      \"lat\": 37.376858519601086,\n     \
  \ \"yaw_radians\": 2.40327780560731,\n      \"speed\": 1.6067970151096271,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233715.5167778,\n      \"lon\":\
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  \   {\n      \"timestamp\": 1765233715.5369468,\n      \"lon\": -121.98993806348253,\n\
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  yaw_radians\": 2.382590953496514,\n      \"speed\": 1.609156482092167,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.5775676,\n      \"lon\": -121.98993860253647,\n\
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  yaw_radians\": 2.3688636334714976,\n      \"speed\": 1.6111788823629156,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.617141,\n      \"lon\": -121.98993913457454,\n\
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  yaw_radians\": 2.3553461287912487,\n      \"speed\": 1.6138754160572466,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.6570153,\n      \"lon\": -121.98993964615877,\n\
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  \      \"lon\": -121.98993992464231,\n      \"lat\": 37.37686030602263,\n      \"\
  yaw_radians\": 2.340750271511877,\n      \"speed\": 1.6226391505638234,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.6970549,\n      \"lon\": -121.98994016928391,\n\
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  : 2.3271166449594474,\n      \"speed\": 1.6206167502930744,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233715.736974,\n      \"lon\": -121.98994069438668,\n\
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  \      \"lon\": -121.98994093233576,\n      \"lat\": 37.376861125149354,\n     \
  \ \"yaw_radians\": 2.313230642505982,\n      \"speed\": 1.6297175515114428,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 2.299520883144821,\n      \"speed\": 1.6300546182232338,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.817301,\n      \"lon\": -121.98994170312766,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.8364952,\n\
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  \n    },\n    {\n      \"timestamp\": 1765233715.8569999,\n      \"lon\": -121.98994217295419,\n\
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  \      \"speed\": 1.637470085882645,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.8762014,\n\
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  yaw_radians\": 2.272047681528966,\n      \"speed\": 1.6418519531359335,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.8969777,\n      \"lon\": -121.98994266445601,\n\
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  \      \"lon\": -121.98994292566445,\n      \"lat\": 37.376862923354764,\n     \
  \ \"yaw_radians\": 2.2579271144094575,\n      \"speed\": 1.6489303540835527,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.937004,\n      \"lon\"\
  : -121.98994315215484,\n      \"lat\": 37.376863143958616,\n      \"yaw_radians\"\
  : 2.2516895183926344,\n      \"speed\": 1.6536492880486324,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233715.9562175,\n      \"lon\": -121.98994337333238,\n\
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  yaw_radians\": 2.237911400373503,\n      \"speed\": 1.6630871559787916,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.9962564,\n      \"lon\": -121.98994384287187,\n\
  \      \"lat\": 37.37686381228352,\n      \"yaw_radians\": 2.2313096648374593,\n\
  \      \"speed\": 1.66510955624954,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.2245761573307075,\n      \"speed\": 1.6664578230967058,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.0369878,\n      \"lon\": -121.98994433761463,\n\
  \      \"lat\": 37.376864324901085,\n      \"yaw_radians\": 2.217553107260499,\n\
  \      \"speed\": 1.6745474241796996,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.0570192,\n\
  \      \"lon\": -121.98994452417323,\n      \"lat\": 37.37686450431571,\n      \"\
  yaw_radians\": 2.210835090413429,\n      \"speed\": 1.6752215576032823,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.0771625,\n      \"lon\": -121.9899447767618,\n\
  \      \"lat\": 37.37686477548355,\n      \"yaw_radians\": 2.2037605626730135,\n\
  \      \"speed\": 1.6785922247211964,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.0969791,\n\
  \      \"lon\": -121.98994499694471,\n      \"lat\": 37.37686501536582,\n      \"\
  yaw_radians\": 2.197594826316488,\n      \"speed\": 1.679940491568362,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.116138,\n      \"lon\": -121.98994520938979,\n\
  \      \"lat\": 37.37686524985051,\n      \"yaw_radians\": 2.1916329769254923,\n\
  \      \"speed\": 1.6856706256688159,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.1364288,\n\
  \      \"lon\": -121.98994544880416,\n      \"lat\": 37.37686551743701,\n      \"\
  yaw_radians\": 2.1848974034547903,\n      \"speed\": 1.6880300926513554,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.1569767,\n      \"lon\": -121.9899456511796,\n\
  \      \"lat\": 37.376865724926695,\n      \"yaw_radians\": 2.1778463612302548,\n\
  \      \"speed\": 1.6930860933282266,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.1761687,\n\
  \      \"lon\": -121.98994587130747,\n      \"lat\": 37.376865978269414,\n     \
  \ \"yaw_radians\": 2.171607952227097,\n      \"speed\": 1.6984791607168894,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233716.1963317,\n      \"lon\":\
  \ -121.9899461035192,\n      \"lat\": 37.37686624911429,\n      \"yaw_radians\"\
  : 2.165004654055908,\n      \"speed\": 1.6991532941404717,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233716.2165325,\n      \"lon\": -121.98994631568472,\n\
  \      \"lat\": 37.37686650010076,\n      \"yaw_radians\": 2.158952421965994,\n\
  \      \"speed\": 1.7069058285116743,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.2369668,\n\
  \      \"lon\": -121.98994653724655,\n      \"lat\": 37.37686676565499,\n      \"\
  yaw_radians\": 2.1525971122507057,\n      \"speed\": 1.7035351613937604,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.2561626,\n      \"lon\": -121.98994673289438,\n\
  \      \"lat\": 37.37686699455632,\n      \"yaw_radians\": 2.145251189017954,\n\
  \      \"speed\": 1.7079170286470482,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.2764258,\n\
  \      \"lon\": -121.9899469416067,\n      \"lat\": 37.376867252278174,\n      \"\
  yaw_radians\": 2.139183290308499,\n      \"speed\": 1.7089282287824228,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.2969737,\n      \"lon\": -121.98994716132385,\n\
  \      \"lat\": 37.37686752722686,\n      \"yaw_radians\": 2.1327475799561344,\n\
  \      \"speed\": 1.7156695630182508,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.316161,\n\
  \      \"lon\": -121.98994736401369,\n      \"lat\": 37.37686778450317,\n      \"\
  yaw_radians\": 2.1267585096748114,\n      \"speed\": 1.7187031634243735,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.3363671,\n      \"lon\": -121.98994759031267,\n\
  \      \"lat\": 37.37686807560052,\n      \"yaw_radians\": 2.1200132982947646,\n\
  \      \"speed\": 1.7210626304069132,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.3569639,\n\
  \      \"lon\": -121.98994776413738,\n      \"lat\": 37.376868281639915,\n     \
  \ \"yaw_radians\": 2.113419995883548,\n      \"speed\": 1.723422097389453,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233716.3762035,\n      \"lon\":\
  \ -121.98994796062641,\n      \"lat\": 37.37686854205078,\n      \"yaw_radians\"\
  : 2.1074453572404996,\n      \"speed\": 1.7298263649134897,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233716.3963706,\n      \"lon\": -121.98994818192416,\n\
  \      \"lat\": 37.376868839344176,\n      \"yaw_radians\": 2.100653514286945,\n\
  \      \"speed\": 1.7291522314899068,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.4161117,\n\
  \      \"lon\": -121.98994837283713,\n      \"lat\": 37.37686909980981,\n      \"\
  yaw_radians\": 2.0947351809076227,\n      \"speed\": 1.7331970320314039,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.4363718,\n      \"lon\": -121.98994857362155,\n\
  \      \"lat\": 37.37686937749359,\n      \"yaw_radians\": 2.0884563380036445,\n\
  \      \"speed\": 1.7355564990139438,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.457042,\n\
  \      \"lon\": -121.98994875758886,\n      \"lat\": 37.37686962514763,\n      \"\
  yaw_radians\": 2.080722464526289,\n      \"speed\": 1.7412866331143975,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.4762406,\n      \"lon\": -121.98994893878645,\n\
  \      \"lat\": 37.37686988406307,\n      \"yaw_radians\": 2.0749411197773555,\n\
  \      \"speed\": 1.7422978332497716,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.4964478,\n\
  \      \"lon\": -121.98994914114164,\n      \"lat\": 37.376870177184266,\n     \
  \ \"yaw_radians\": 2.068432874800123,\n      \"speed\": 1.7466797005030599,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233716.5164118,\n      \"lon\":\
  \ -121.98994932955311,\n      \"lat\": 37.376870454366916,\n      \"yaw_radians\"\
  : 2.0623246110629516,\n      \"speed\": 1.7443202335205201,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233716.5370266,\n      \"lon\": -121.98994952329495,\n\
  \      \"lat\": 37.3768707436009,\n      \"yaw_radians\": 2.055995869256364,\n \
  \     \"speed\": 1.7493762341973915,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.5562534,\n\
  \      \"lon\": -121.9899496872784,\n      \"lat\": 37.37687097808525,\n      \"\
  yaw_radians\": 2.0488790873753615,\n      \"speed\": 1.752409834603514,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.576435,\n      \"lon\": -121.98994986738008,\n\
  \      \"lat\": 37.37687125590097,\n      \"yaw_radians\": 2.042903735926313,\n\
  \      \"speed\": 1.7564546351450108,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.5962768,\n\
  \      \"lon\": -121.98995005418169,\n      \"lat\": 37.37687154834015,\n      \"\
  yaw_radians\": 2.036659339051494,\n      \"speed\": 1.7534210347388883,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.61649,\n      \"lon\": -121.98995023431904,\n\
  \      \"lat\": 37.376871834753004,\n      \"yaw_radians\": 2.030607239643108,\n\
  \      \"speed\": 1.7645442362280046,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.6361551,\n\
  \      \"lon\": -121.98995042578763,\n      \"lat\": 37.37687214387166,\n      \"\
  yaw_radians\": 2.0241185496154066,\n      \"speed\": 1.7631959693808388,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.6564765,\n      \"lon\": -121.98995059992286,\n\
  \      \"lat\": 37.37687242964097,\n      \"yaw_radians\": 2.018193596799858,\n\
  \      \"speed\": 1.7662295697869614,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.676445,\n\
  \      \"lon\": -121.98995074899959,\n      \"lat\": 37.376872663910675,\n     \
  \ \"yaw_radians\": 2.0114197675890524,\n      \"speed\": 1.7702743703284582,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.6964507,\n      \"lon\"\
  : -121.98995092059603,\n      \"lat\": 37.37687295487191,\n      \"yaw_radians\"\
  : 2.0055010851358115,\n      \"speed\": 1.7706114370402497,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233716.7162073,\n      \"lon\": -121.98995109640707,\n\
  \      \"lat\": 37.37687325763192,\n      \"yaw_radians\": 1.9993948482259898,\n\
  \      \"speed\": 1.7642071695162131,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.7364423,\n\
  \      \"lon\": -121.98995126404685,\n      \"lat\": 37.376873550990155,\n     \
  \ \"yaw_radians\": 1.993551699801799,\n      \"speed\": 1.7719597038874155,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233716.7565408,\n      \"lon\":\
  \ -121.98995143707549,\n      \"lat\": 37.3768738585418,\n      \"yaw_radians\"\
  : 1.9874795386196182,\n      \"speed\": 1.774993304293538,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233716.7765834,\n      \"lon\": -121.98995157409811,\n\
  \      \"lat\": 37.37687408958566,\n      \"yaw_radians\": 1.9811361833731875,\n\
  \      \"speed\": 1.7810605051057835,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.7966063,\n\
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  yaw_radians\": 1.9751485367589479,\n      \"speed\": 1.782408771952949,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.816264,\n      \"lon\": -121.98995189827569,\n\
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  \      \"speed\": 1.780723438393992,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.8361266,\n\
  \      \"lon\": -121.98995205954452,\n      \"lat\": 37.37687499635389,\n      \"\
  yaw_radians\": 1.9637767816637426,\n      \"speed\": 1.7867906392062374,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.8567004,\n      \"lon\": -121.98995218945475,\n\
  \      \"lat\": 37.3768752419423,\n      \"yaw_radians\": 1.957088915613415,\n \
  \     \"speed\": 1.7881389060534028,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.8767388,\n\
  \      \"lon\": -121.98995234663232,\n      \"lat\": 37.37687555100814,\n      \"\
  yaw_radians\": 1.9513547544826233,\n      \"speed\": 1.787801839341611,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.8967907,\n      \"lon\": -121.98995250537239,\n\
  \      \"lat\": 37.376875868360806,\n      \"yaw_radians\": 1.9455243361696808,\n\
  \      \"speed\": 1.796565573848188,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.9162958,\n\
  \      \"lon\": -121.98995265268364,\n      \"lat\": 37.376876167915285,\n     \
  \ \"yaw_radians\": 1.9400862138186736,\n      \"speed\": 1.7972397072717712,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.9362693,\n      \"lon\"\
  : -121.9899527983487,\n      \"lat\": 37.37687646893714,\n      \"yaw_radians\"\
  : 1.9346783358115955,\n      \"speed\": 1.8006103743896849,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233716.9568956,\n      \"lon\": -121.98995292515141,\n\
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  \ \"yaw_radians\": 1.9225650212265462,\n      \"speed\": 1.8100482423198443,\n \
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  \ \"yaw_radians\": 1.9065138578446499,\n      \"speed\": 1.8228567773679172,\n \
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  \ \"yaw_radians\": 1.8792741283417762,\n      \"speed\": 1.8370135792631563,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 1.8628527933661618,\n      \"speed\": 1.843080780075402,\n  \
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  \ \"yaw_radians\": 1.8474269872112872,\n      \"speed\": 1.8602711823767635,\n \
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  yaw_radians\": 1.7911246766976645,\n      \"speed\": 1.9266733245996703,\n     \
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  yaw_radians\": 1.7812536036658626,\n      \"speed\": 1.9307181251411676,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \n    },\n    {\n      \"timestamp\": 1765233717.5766234,\n      \"lon\": -121.98995645034023,\n\
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  yaw_radians\": 1.7602858627516826,\n      \"speed\": 1.9495938610014858,\n     \
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  \n    },\n    {\n      \"timestamp\": 1765233717.6565833,\n      \"lon\": -121.98995676892838,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.6966307,\n      \"lon\": -121.98995692672689,\n\
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  yaw_radians\": 1.7293163460306453,\n      \"speed\": 1.985997065874958,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.7363796,\n      \"lon\": -121.98995707140827,\n\
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  yaw_radians\": 1.7182265450693506,\n      \"speed\": 1.997120267364074,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.7765224,\n      \"lon\": -121.98995719422673,\n\
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  \      \"lon\": -121.98995726121031,\n      \"lat\": 37.376890431319005,\n     \
  \ \"yaw_radians\": 1.70768568451741,\n      \"speed\": 2.003861601599902,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98995732264312,\n      \"lat\": 37.37689078863973,\n      \"yaw_radians\"\
  : 1.7025868249519975,\n      \"speed\": 2.011277069259313,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.8363972,\n      \"lon\": -121.98995738397053,\n\
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  yaw_radians\": 1.6912361131865026,\n      \"speed\": 2.0274562714253004,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.87652,\n      \"lon\": -121.98995748763669,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.916281,\n      \"lon\": -121.98995759302318,\n\
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  \      \"lon\": -121.98995764199731,\n      \"lat\": 37.376892957969574,\n     \
  \ \"yaw_radians\": 1.6697136330791442,\n      \"speed\": 2.0463320072856193,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.956508,\n      \"lon\"\
  : -121.98995767164409,\n      \"lat\": 37.376893287090574,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1765233717.9765294,\n      \"lon\": -121.9899577150323,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.0162907,\n      \"lon\": -121.98995779435427,\n\
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  yaw_radians\": 1.6408759914246127,\n      \"speed\": 2.0625112094516065,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.056495,\n      \"lon\": -121.98995785380724,\n\
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  \      \"lon\": -121.98995788451722,\n      \"lat\": 37.376895492317885,\n     \
  \ \"yaw_radians\": 1.6288958984246507,\n      \"speed\": 2.074308544364306,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233718.0964909,\n      \"lon\":\
  \ -121.98995791263111,\n      \"lat\": 37.37689588125096,\n      \"yaw_radians\"\
  : 1.623113390650626,\n      \"speed\": 2.07531974449968,\n      \"segment_id\":\
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  \   {\n      \"timestamp\": 1765233718.1163783,\n      \"lon\": -121.98995793710183,\n\
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  yaw_radians\": 1.611739437218091,\n      \"speed\": 2.082398145447299,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.1564705,\n      \"lon\": -121.98995797658631,\n\
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  \      \"lon\": -121.98995799327092,\n      \"lat\": 37.376897339101866,\n     \
  \ \"yaw_radians\": 1.599656284338162,\n      \"speed\": 2.0874541461241707,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233718.1964338,\n      \"lon\":\
  \ -121.98995800712409,\n      \"lat\": 37.37689772893423,\n      \"yaw_radians\"\
  : 1.5937877442478128,\n      \"speed\": 2.0955437472071643,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233718.216357,\n      \"lon\": -121.9899580181521,\n\
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  \n    },\n    {\n      \"timestamp\": 1765233718.2964528,\n      \"lon\": -121.98995803227422,\n\
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  \n    },\n    {\n      \"timestamp\": 1765233718.376448,\n      \"lon\": -121.98995800492831,\n\
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  \ \"yaw_radians\": 1.5338927389366352,\n      \"speed\": 2.1083522822552374,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.4163568,\n      \"lon\"\
  : -121.98995797126166,\n      \"lat\": 37.37690186514988,\n      \"yaw_radians\"\
  : 1.528035805375339,\n      \"speed\": 2.1093634823906116,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
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  yaw_radians\": 1.5160694772021388,\n      \"speed\": 2.1070040154080716,\n     \
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  yaw_radians\": 1.503850907265702,\n      \"speed\": 2.1083522822552374,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.5163646,\n      \"lon\": -121.98995784118544,\n\
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  \      \"lon\": -121.98995780879221,\n      \"lat\": 37.376904110875365,\n     \
  \ \"yaw_radians\": 1.4923175613850423,\n      \"speed\": 2.107004015408072,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98995777410808,\n      \"lat\": 37.37690444431586,\n      \"yaw_radians\"\
  : 1.4853429297084477,\n      \"speed\": 2.102285081442992,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
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  yaw_radians\": 1.4733641724465345,\n      \"speed\": 2.0827352121590907,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.6163592,\n      \"lon\": -121.98995763882064,\n\
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  \      \"lon\": -121.98995759268128,\n      \"lat\": 37.376905966851666,\n     \
  \ \"yaw_radians\": 1.4616958075691997,\n      \"speed\": 2.0719490773817655,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.656337,\n      \"lon\"\
  : -121.98995755146994,\n      \"lat\": 37.37690628639843,\n      \"yaw_radians\"\
  : 1.4549715649205972,\n      \"speed\": 2.06588187656952,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233718.6763303,\n      \"lon\": -121.98995749514332,\n\
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  \      \"lon\": -121.98995743606815,\n      \"lat\": 37.376907054542166,\n     \
  \ \"yaw_radians\": 1.442724608750888,\n      \"speed\": 2.0581293421983182,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98995737402984,\n      \"lat\": 37.376907437718344,\n      \"yaw_radians\"\
  : 1.4365428785087049,\n      \"speed\": 2.044309607014871,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233718.735967,\n      \"lon\": -121.98995731361349,\n\
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  yaw_radians\": 1.424072586029938,\n      \"speed\": 2.0335234722375453,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.7763236,\n      \"lon\": -121.98995719380581,\n\
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  yaw_radians\": 1.4115948892197285,\n      \"speed\": 2.028467471560675,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.816334,\n      \"lon\": -121.98995704432566,\n\
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  yaw_radians\": 1.3992711905259654,\n      \"speed\": 2.007906402141399,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.856306,\n      \"lon\": -121.9899568886741,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.8962946,\n      \"lon\": -121.98995673417645,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.9359508,\n      \"lon\": -121.98995655937979,\n\
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  yaw_radians\": 1.3596598178583958,\n      \"speed\": 1.9384706595123695,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.9762971,\n      \"lon\": -121.98995638622037,\n\
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  \      \"lon\": -121.98995628866145,\n      \"lat\": 37.376912302173324,\n     \
  \ \"yaw_radians\": 1.3466669654859196,\n      \"speed\": 1.9324034587001244,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.016286,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233719.0359235,\n      \"lon\": -121.9899560890505,\n\
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  \ \"yaw_radians\": 1.3269515568634385,\n      \"speed\": 1.9101570557218917,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.0763435,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233719.096247,\n      \"lon\": -121.98995578043713,\n\
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  yaw_radians\": 1.305911043156367,\n      \"speed\": 1.8842029189139535,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233719.1364298,\n      \"lon\": -121.9899555538642,\n\
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  \      \"lon\": -121.98995543523387,\n      \"lat\": 37.376914960619935,\n     \
  \ \"yaw_radians\": 1.2927612678891056,\n      \"speed\": 1.8777986513899165,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.1762705,\n      \"lon\"\
  : -121.98995535416476,\n      \"lat\": 37.37691521399217,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233719.196283,\n      \"lon\": -121.9899552314581,\n\
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  yaw_radians\": 1.2723445464126215,\n      \"speed\": 1.8720685172894627,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233719.2364595,\n      \"lon\": -121.98995497391734,\n\
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  \      \"lon\": -121.98995484523083,\n      \"lat\": 37.376916547597446,\n     \
  \ \"yaw_radians\": 1.25890252778701,\n      \"speed\": 1.8724055840012543,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233719.2762132,\n      \"lon\":\
  \ -121.98995477889588,\n      \"lat\": 37.37691680347678,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1765233719.296238,\n      \"lon\": -121.98995464223225,\n\
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  yaw_radians\": 1.2394907410850242,\n      \"speed\": 1.8771245179663336,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233719.3364518,\n      \"lon\": -121.98995435621922,\n\
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  yaw_radians\": 1.2258914661798999,\n      \"speed\": 1.8801581183724565,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233719.3762653,\n      \"lon\": -121.98995414273666,\n\
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  \ \"yaw_radians\": 1.2135706923726735,\n      \"speed\": 1.8973485206738179,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.4162633,\n      \"lon\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233719.435461,\n      \"lon\": -121.98995368172521,\n\
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  yaw_radians\": 1.1929442072649605,\n      \"speed\": 1.9037527881978549,\n     \
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  \n    },\n    {\n      \"timestamp\": 1765233719.476247,\n      \"lon\": -121.98995341214054,\n\
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  yaw_radians\": 1.1501489680530785,\n      \"speed\": 1.9111682558572656,\n     \
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  yaw_radians\": 1.1216035406324132,\n      \"speed\": 1.9047639883332292,\n     \
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  yaw_radians\": 1.1050290622713281,\n      \"speed\": 1.8986967875209837,\n     \
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  \ \"yaw_radians\": 1.0908940812449295,\n      \"speed\": 1.8960002538266527,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  yaw_radians\": 1.0358911014437158,\n      \"speed\": 1.8693719835951315,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 1.0212907327846341,\n      \"speed\": 1.8498221143112301,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \      \"speed\": 1.8295981116037456,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 1.0070021410323489,\n      \"speed\": 1.8252162443504574,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \      \"lon\": -121.98994830956218,\n      \"lat\": 37.376927715529725,\n     \
  \ \"yaw_radians\": 0.9920188060015283,\n      \"speed\": 1.8036439747958075,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233720.01549,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233720.0353932,\n      \"lon\": -121.98994784932259,\n\
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  yaw_radians\": 0.9712051000808224,\n      \"speed\": 1.7901613063241513,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.0758574,\n      \"lon\": -121.989947445385,\n\
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  \ \"yaw_radians\": 0.9564555571860403,\n      \"speed\": 1.806003441778347,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233720.1153615,\n      \"lon\":\
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  \   {\n      \"timestamp\": 1765233720.1355126,\n      \"lon\": -121.98994671326491,\n\
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  yaw_radians\": 0.9352277758984081,\n      \"speed\": 1.8349911789924083,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 0.9194287602655653,\n      \"speed\": 1.8579117153942235,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.2157145,\n      \"lon\": -121.98994572937244,\n\
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  yaw_radians\": 0.9049340187894289,\n      \"speed\": 1.884877052337536,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.2556717,\n      \"lon\": -121.98994520755964,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.2960215,\n      \"lon\": -121.98994463740947,\n\
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  yaw_radians\": 0.8722681729044225,\n      \"speed\": 1.926336257887879,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.3357122,\n      \"lon\": -121.98994407102106,\n\
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  yaw_radians\": 0.8546038190624345,\n      \"speed\": 1.946223193883572,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.3757613,\n      \"lon\": -121.9899434995184,\n\
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  \      \"lon\": -121.98994320156561,\n      \"lat\": 37.376932932834464,\n     \
  \ \"yaw_radians\": 0.8392805900006608,\n      \"speed\": 1.967795463438222,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233720.415741,\n      \"lon\": -121.98994287940548,\n\
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  yaw_radians\": 0.8232573392879795,\n      \"speed\": 1.9859970658749575,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.455239,\n      \"lon\": -121.98994227797999,\n\
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  yaw_radians\": 0.8055856794391084,\n      \"speed\": 1.9944237336697428,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.4952254,\n      \"lon\": -121.98994167517348,\n\
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  yaw_radians\": 0.7904180581296747,\n      \"speed\": 1.9903789331282455,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.5361629,\n      \"lon\": -121.98994098923748,\n\
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  yaw_radians\": 0.7737736262979985,\n      \"speed\": 1.9822893320452524,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.5753994,\n      \"lon\": -121.98994041577214,\n\
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  \      \"lon\": -121.98994010662194,\n      \"lat\": 37.376935430153175,\n     \
  \ \"yaw_radians\": 0.758290439008578,\n      \"speed\": 1.966447196591056,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233720.6153517,\n      \"lon\":\
  \ -121.98993976702461,\n      \"lat\": 37.37693568656365,\n      \"yaw_radians\"\
  : 0.750437750419308,\n      \"speed\": 1.969480796997179,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233720.6361291,\n      \"lon\": -121.98993939314838,\n\
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  \ \"yaw_radians\": 0.7347316820726287,\n      \"speed\": 1.9721773306915098,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233720.6752498,\n      \"lon\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233720.6956859,\n      \"lon\": -121.98993850166991,\n\
  \      \"lat\": 37.3769366224391,\n      \"yaw_radians\": 0.7192029536602814,\n\
  \      \"speed\": 1.9910530665518287,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233720.7151794,\n\
  \      \"lon\": -121.98993817123893,\n      \"lat\": 37.37693685307494,\n      \"\
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 0.69600199890326,\n      \"speed\": 2.0261080045781346,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 0.6408108088536696,\n      \"speed\": 2.114419483067483,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 0.6171158286971088,\n      \"speed\": 2.1423960201461694,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 0.5755996240482709,\n      \"speed\": 2.2121688294869903,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1765233721.0957084,\n      \"lon\": -121.98993109688351,\n\
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  yaw_radians\": 0.551893247460867,\n      \"speed\": 2.271829637474069,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 0.5351835243563661,\n      \"speed\": 2.286997639504682,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 0.5106782423130307,\n      \"speed\": 2.3149741765833687,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 0.4944064832163865,\n      \"speed\": 2.355085115286546,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233721.2957175,\n      \"lon\": -121.9899266885358,\n\
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  \ \"yaw_radians\": 0.4699025358016875,\n      \"speed\": 2.404296855208091,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 0.4539799302424932,\n      \"speed\": 2.4400259266579796,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233721.3757126,\n      \"lon\": -121.98992477315247,\n\
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  \ \"yaw_radians\": 0.43638060728069933,\n      \"speed\": 2.470698997430998,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233721.4160988,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233721.4357605,\n      \"lon\": -121.98992321038399,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233721.475851,\n      \"lon\": -121.98992225657666,\n\
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  yaw_radians\": 0.3955679220960644,\n      \"speed\": 2.534404605959573,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233721.5161047,\n      \"lon\": -121.98992115242947,\n\
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  yaw_radians\": 0.38004086361372624,\n      \"speed\": 2.5542915419552665,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 0.36312837121236297,\n      \"speed\": 2.5768750116452908,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 0.3479202683799416,\n      \"speed\": 2.60080674818248,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  : 0.34059794403780436,\n      \"speed\": 2.61024461611264,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233721.6558151,\n      \"lon\": -121.98991735963756,\n\
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  \ \"yaw_radians\": 0.32504766449715766,\n      \"speed\": 2.632153952379081,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233721.6960282,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233721.7162454,\n      \"lon\": -121.98991572898376,\n\
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  yaw_radians\": 0.3030991740265211,\n      \"speed\": 2.6843992927067486,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233721.7558043,\n      \"lon\": -121.98991470928394,\n\
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  yaw_radians\": 0.2885755203859043,\n      \"speed\": 2.706645695684981,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233721.7952416,\n      \"lon\": -121.98991352186918,\n\
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  yaw_radians\": 0.27453648503019357,\n      \"speed\": 2.7376558331697907,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233721.855801,\n      \"lon\": -121.98991182177235,\n\
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  yaw_radians\": 0.24061498580702595,\n      \"speed\": 2.809788109493151,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233721.9361637,\n      \"lon\": -121.98990927407384,\n\
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  \      \"lon\": -121.98990883170511,\n      \"lat\": 37.376948318603986,\n     \
  \ \"yaw_radians\": 0.22772841369814312,\n      \"speed\": 2.829675045488844,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  yaw_radians\": 0.0036850922089422793,\n      \"speed\": 4.2979376420522035,\n  \
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  \ \"yaw_radians\": 0.0029814373105382405,\n      \"speed\": 4.3013083091701185,\n\
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  yaw_radians\": 0.0014145490480487514,\n      \"speed\": 4.322206445301185,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 0.00044111400561188947,\n      \"speed\": 4.3249029789955165,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1765233725.0144415,\n      \"lon\": -121.98978044221984,\n\
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  yaw_radians\": -0.0011616399824107488,\n      \"speed\": 4.3390597808907545,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -0.0018699247252223824,\n      \"speed\": 4.348834715532706,\n\
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  \   {\n      \"timestamp\": 1765233725.1343782,\n      \"lon\": -121.989774428532,\n\
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  yaw_radians\": -0.0029714901298952224,\n      \"speed\": 4.3569243166157,\n    \
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  yaw_radians\": -0.004049414163817114,\n      \"speed\": 4.353553649497786,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": -0.0053056080302866584,\n      \"speed\": 4.362317384004362,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233725.29437,\n      \"lon\": -121.98976642889984,\n\
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  yaw_radians\": -0.00692255680898793,\n      \"speed\": 4.370069918375565,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233725.3543231,\n      \"lon\": -121.98976344325996,\n\
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  yaw_radians\": -0.008181551190564516,\n      \"speed\": 4.365688051122277,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233725.4150274,\n      \"lon\": -121.98976034189583,\n\
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  yaw_radians\": -0.009794909596279388,\n      \"speed\": 4.373440585493478,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -0.011159892454905687,\n      \"speed\": 4.367373384681233,\n\
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  \ \"yaw_radians\": -0.012296879670413065,\n      \"speed\": 4.364339784275109,\n\
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  \   {\n      \"timestamp\": 1765233725.594866,\n      \"lon\": -121.98975135368204,\n\
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  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233725.6948662,\n      \"lon\": -121.98974622135815,\n\
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  \ \"yaw_radians\": -0.7083757319184075,\n      \"speed\": 1.8656642497654259,\n\
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": -0.8256877601068504,\n      \"speed\": 1.9067863886039775,\n\
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  yaw_radians\": -0.8662136510836913,\n      \"speed\": 1.9111682558572658,\n    \
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.0763256654375288,\n      \"speed\": 2.0277933381370916,\n\
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  \ \"yaw_radians\": -1.372724828051445,\n      \"speed\": 2.2738520377448173,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.4540969299344537,\n      \"speed\": 2.3823875189416497,\n\
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  \ \"yaw_radians\": -1.4650867786069497,\n      \"speed\": 2.404970988631674,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.5656817544986577,\n      \"speed\": 2.902818521947579,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.5653936660414665,\n      \"speed\": 2.867426517209481,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.5650283899400153,\n      \"speed\": 2.8269785117945125,\n\
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  \ \"yaw_radians\": -1.5649127662164262,\n      \"speed\": 2.7582169025890666,\n\
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  \      \"lat\": 37.37679021029848,\n      \"yaw_radians\": -1.5591105456151337,\n\
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  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.3293898,\n\
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  \   {\n      \"timestamp\": 1765233746.3496993,\n      \"lon\": -121.98923089721256,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.3697286,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.4092596,\n\
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  yaw_radians\": -1.5585756826179218,\n      \"speed\": 0,\n      \"segment_id\":\
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  \   {\n      \"timestamp\": 1765233746.4301295,\n      \"lon\": -121.98923089721256,\n\
  \      \"lat\": 37.37679018921226,\n      \"yaw_radians\": -1.5585756826179218,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.4495013,\n\
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  yaw_radians\": -1.558052048022408,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"lat\": 37.37679016793096,\n      \"yaw_radians\": -1.558052048022408,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.48972,\n\
  \      \"lon\": -121.98923089328316,\n      \"lat\": 37.37679016793096,\n      \"\
  yaw_radians\": -1.558052048022408,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"lat\": 37.37679016793096,\n      \"yaw_radians\": -1.558052048022408,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.52914,\n\
  \      \"lon\": -121.98923089328316,\n      \"lat\": 37.37679016793096,\n      \"\
  yaw_radians\": -1.558052048022408,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"lat\": 37.376790147388846,\n      \"yaw_radians\": -1.557557709321129,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.5698252,\n\
  \      \"lon\": -121.98923089014683,\n      \"lat\": 37.376790147388846,\n     \
  \ \"yaw_radians\": -1.557557709321129,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.5895169,\n      \"lon\": -121.98923089014683,\n\
  \      \"lat\": 37.376790147388846,\n      \"yaw_radians\": -1.557557709321129,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.6091864,\n\
  \      \"lon\": -121.98923089014683,\n      \"lat\": 37.376790147388846,\n     \
  \ \"yaw_radians\": -1.557557709321129,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.6291206,\n      \"lon\": -121.98923089014683,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.6497924,\n\
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  yaw_radians\": -1.5571031384064682,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.6698997,\n      \"lon\": -121.98923088821616,\n\
  \      \"lat\": 37.37679012786329,\n      \"yaw_radians\": -1.5571031384064682,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.6900845,\n\
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  yaw_radians\": -1.5571031384064682,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.7091691,\n      \"lon\": -121.98923088821616,\n\
  \      \"lat\": 37.37679012786329,\n      \"yaw_radians\": -1.5571031384064682,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.7291622,\n\
  \      \"lon\": -121.98923088821616,\n      \"lat\": 37.37679012786329,\n      \"\
  yaw_radians\": -1.5571031384064682,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.7494893,\n      \"lon\": -121.98923088821616,\n\
  \      \"lat\": 37.37679012786329,\n      \"yaw_radians\": -1.5571031384064682,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.7692263,\n\
  \      \"lon\": -121.98923088696488,\n      \"lat\": 37.37679010972633,\n      \"\
  yaw_radians\": -1.556673065328644,\n      \"speed\": 0,\n      \"segment_id\": \"\
  driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n    {\n\
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  \      \"lat\": 37.37679010972633,\n      \"yaw_radians\": -1.556673065328644,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.8092558,\n\
  \      \"lon\": -121.98923088696488,\n      \"lat\": 37.37679010972633,\n      \"\
  yaw_radians\": -1.556673065328644,\n      \"speed\": 0,\n      \"segment_id\": \"\
  driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n    {\n\
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  \      \"lat\": 37.37679010972633,\n      \"yaw_radians\": -1.556673065328644,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.849414,\n\
  \      \"lon\": -121.98923088635813,\n      \"lat\": 37.37679009292251,\n      \"\
  yaw_radians\": -1.5562660231866265,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.8692765,\n      \"lon\": -121.98923088635813,\n\
  \      \"lat\": 37.37679009292251,\n      \"yaw_radians\": -1.5562660231866265,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.8893158,\n\
  \      \"lon\": -121.98923088635813,\n      \"lat\": 37.37679009292251,\n      \"\
  yaw_radians\": -1.5562660231866265,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.9094381,\n      \"lon\": -121.98923088635813,\n\
  \      \"lat\": 37.37679009292251,\n      \"yaw_radians\": -1.5562660231866265,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.9293292,\n\
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  yaw_radians\": -1.5562660231866265,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.9493215,\n      \"lon\": -121.989230885887,\n\
  \      \"lat\": 37.376790077170476,\n      \"yaw_radians\": -1.5558680471429334,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233746.969357,\n\
  \      \"lon\": -121.989230885887,\n      \"lat\": 37.376790077170476,\n      \"\
  yaw_radians\": -1.5558680471429334,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233746.989377,\n      \"lon\": -121.989230885887,\n\
  \      \"lat\": 37.376790077170476,\n      \"yaw_radians\": -1.5558680471429334,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.0094464,\n\
  \      \"lon\": -121.989230885887,\n      \"lat\": 37.376790077170476,\n      \"\
  yaw_radians\": -1.5558680471429334,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.029526,\n      \"lon\": -121.989230885887,\n\
  \      \"lat\": 37.376790077170476,\n      \"yaw_radians\": -1.5558680471429334,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.049972,\n\
  \      \"lon\": -121.98923088600354,\n      \"lat\": 37.37679006217517,\n      \"\
  yaw_radians\": -1.5554910221079281,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.0695322,\n      \"lon\": -121.98923088600354,\n\
  \      \"lat\": 37.37679006217517,\n      \"yaw_radians\": -1.5554910221079281,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.0895832,\n\
  \      \"lon\": -121.98923088600354,\n      \"lat\": 37.37679006217517,\n      \"\
  yaw_radians\": -1.5554910221079281,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.1095655,\n      \"lon\": -121.98923088600354,\n\
  \      \"lat\": 37.37679006217517,\n      \"yaw_radians\": -1.5554910221079281,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.129607,\n\
  \      \"lon\": -121.98923088600354,\n      \"lat\": 37.37679006217517,\n      \"\
  yaw_radians\": -1.5554910221079281,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.1496475,\n      \"lon\": -121.98923088637932,\n\
  \      \"lat\": 37.376790048160025,\n      \"yaw_radians\": -1.5551257629418525,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.169753,\n\
  \      \"lon\": -121.98923088637932,\n      \"lat\": 37.376790048160025,\n     \
  \ \"yaw_radians\": -1.5551257629418525,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.1896746,\n      \"lon\": -121.98923088637932,\n\
  \      \"lat\": 37.376790048160025,\n      \"yaw_radians\": -1.5551257629418525,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.2097116,\n\
  \      \"lon\": -121.98923088637932,\n      \"lat\": 37.376790048160025,\n     \
  \ \"yaw_radians\": -1.5551257629418525,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.2296796,\n      \"lon\": -121.98923088637932,\n\
  \      \"lat\": 37.376790048160025,\n      \"yaw_radians\": -1.5551257629418525,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.2497365,\n\
  \      \"lon\": -121.98923088637932,\n      \"lat\": 37.376790048160025,\n     \
  \ \"yaw_radians\": -1.5551257629418525,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.2696912,\n      \"lon\": -121.98923088735873,\n\
  \      \"lat\": 37.376790035005726,\n      \"yaw_radians\": -1.5547810518336243,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.2897735,\n\
  \      \"lon\": -121.98923088735873,\n      \"lat\": 37.376790035005726,\n     \
  \ \"yaw_radians\": -1.5547810518336243,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.3099356,\n      \"lon\": -121.98923088735873,\n\
  \      \"lat\": 37.376790035005726,\n      \"yaw_radians\": -1.5547810518336243,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.3297508,\n\
  \      \"lon\": -121.98923088735873,\n      \"lat\": 37.376790035005726,\n     \
  \ \"yaw_radians\": -1.5547810518336243,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.349695,\n      \"lon\": -121.98923088847877,\n\
  \      \"lat\": 37.3767900223747,\n      \"yaw_radians\": -1.5544445930394197,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.3700726,\n\
  \      \"lon\": -121.98923088847877,\n      \"lat\": 37.3767900223747,\n      \"\
  yaw_radians\": -1.5544445930394197,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233747.3898232,\n      \"lon\": -121.98923088847877,\n\
  \      \"lat\": 37.3767900223747,\n      \"yaw_radians\": -1.5544445930394197,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233747.4096646,\n\
  \      \"lon\": -121.98923088847877,\n      \"lat\": 37.3767900223747,\n      \"\
  yaw_radians\": -1.5544445930394197,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233754.3274865,\n      \"lon\": -121.98923105982398,\n\
  \      \"lat\": 37.376789676023044,\n      \"yaw_radians\": -1.540341825667576,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.348544,\n\
  \      \"lon\": -121.98923105982398,\n      \"lat\": 37.376789676023044,\n     \
  \ \"yaw_radians\": -1.540341825667576,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.367493,\n      \"lon\": -121.98923106245381,\n\
  \      \"lat\": 37.3767896741568,\n      \"yaw_radians\": -1.5402054014801425,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.387682,\n\
  \      \"lon\": -121.98923106245381,\n      \"lat\": 37.3767896741568,\n      \"\
  yaw_radians\": -1.5402054014801425,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.4074597,\n      \"lon\": -121.98923106245381,\n\
  \      \"lat\": 37.3767896741568,\n      \"yaw_radians\": -1.5402054014801425,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.4275036,\n\
  \      \"lon\": -121.98923106245381,\n      \"lat\": 37.3767896741568,\n      \"\
  yaw_radians\": -1.5402054014801425,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.448472,\n      \"lon\": -121.98923106245381,\n\
  \      \"lat\": 37.3767896741568,\n      \"yaw_radians\": -1.5402054014801425,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.467505,\n\
  \      \"lon\": -121.98923106510247,\n      \"lat\": 37.37678967237739,\n      \"\
  yaw_radians\": -1.5400705125727643,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.4876974,\n      \"lon\": -121.98923106510247,\n\
  \      \"lat\": 37.37678967237739,\n      \"yaw_radians\": -1.5400705125727643,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.5074828,\n\
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  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.5274882,\n      \"lon\": -121.98923106510247,\n\
  \      \"lat\": 37.37678967237739,\n      \"yaw_radians\": -1.5400705125727643,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.547549,\n\
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  yaw_radians\": -1.5399357532827445,\n      \"speed\": 0,\n      \"segment_id\":\
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  \    {\n      \"timestamp\": 1765233754.5680344,\n      \"lon\": -121.98923106768602,\n\
  \      \"lat\": 37.37678967058523,\n      \"yaw_radians\": -1.5399357532827445,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.587761,\n\
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  yaw_radians\": -1.5399357532827445,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.6080523,\n      \"lon\": -121.98923106768602,\n\
  \      \"lat\": 37.37678967058523,\n      \"yaw_radians\": -1.5399357532827445,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.6279974,\n\
  \      \"lon\": -121.98923106768602,\n      \"lat\": 37.37678967058523,\n      \"\
  yaw_radians\": -1.5399357532827445,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.6478868,\n      \"lon\": -121.98923106768602,\n\
  \      \"lat\": 37.37678967058523,\n      \"yaw_radians\": -1.5399357532827445,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
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  yaw_radians\": -1.5398027381871535,\n      \"speed\": 0,\n      \"segment_id\":\
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  \    {\n      \"timestamp\": 1765233754.6877067,\n      \"lon\": -121.98923107029891,\n\
  \      \"lat\": 37.37678966880037,\n      \"yaw_radians\": -1.5398027381871535,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.7079895,\n\
  \      \"lon\": -121.98923107029891,\n      \"lat\": 37.37678966880037,\n      \"\
  yaw_radians\": -1.5398027381871535,\n      \"speed\": 0,\n      \"segment_id\":\
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  \    {\n      \"timestamp\": 1765233754.7280018,\n      \"lon\": -121.98923107029891,\n\
  \      \"lat\": 37.37678966880037,\n      \"yaw_radians\": -1.5398027381871535,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.7484443,\n\
  \      \"lon\": -121.98923107029891,\n      \"lat\": 37.37678966880037,\n      \"\
  yaw_radians\": -1.5398027381871535,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.7680936,\n      \"lon\": -121.98923107292356,\n\
  \      \"lat\": 37.376789666947985,\n      \"yaw_radians\": -1.5396711958287927,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.7881968,\n\
  \      \"lon\": -121.98923107292356,\n      \"lat\": 37.376789666947985,\n     \
  \ \"yaw_radians\": -1.5396711958287927,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.8080125,\n      \"lon\": -121.98923107292356,\n\
  \      \"lat\": 37.376789666947985,\n      \"yaw_radians\": -1.5396711958287927,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.8279006,\n\
  \      \"lon\": -121.98923107292356,\n      \"lat\": 37.376789666947985,\n     \
  \ \"yaw_radians\": -1.5396711958287927,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.8481283,\n      \"lon\": -121.98923107292356,\n\
  \      \"lat\": 37.376789666947985,\n      \"yaw_radians\": -1.5396711958287927,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.868042,\n\
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  \    {\n      \"timestamp\": 1765233754.8881278,\n      \"lon\": -121.98923107544867,\n\
  \      \"lat\": 37.3767896651989,\n      \"yaw_radians\": -1.5395390767321593,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.9079795,\n\
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  yaw_radians\": -1.5395390767321593,\n      \"speed\": 0,\n      \"segment_id\":\
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  \    {\n      \"timestamp\": 1765233754.9278324,\n      \"lon\": -121.98923107544867,\n\
  \      \"lat\": 37.3767896651989,\n      \"yaw_radians\": -1.5395390767321593,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.9480412,\n\
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  yaw_radians\": -1.5395390767321593,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233754.9680893,\n      \"lon\": -121.9892310779382,\n\
  \      \"lat\": 37.37678966353697,\n      \"yaw_radians\": -1.5394074897570764,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233754.988195,\n\
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  yaw_radians\": -1.5394074897570764,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.0079386,\n      \"lon\": -121.9892310779382,\n\
  \      \"lat\": 37.37678966353697,\n      \"yaw_radians\": -1.5394074897570764,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.0281672,\n\
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  yaw_radians\": -1.5394074897570764,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.0483031,\n      \"lon\": -121.9892310779382,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.068068,\n\
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  yaw_radians\": -1.5392774195476113,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.087234,\n      \"lon\": -121.98923108044487,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
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  yaw_radians\": -1.5392774195476113,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.1276925,\n      \"lon\": -121.98923108044487,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.1479063,\n\
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  yaw_radians\": -1.5392774195476113,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.1875372,\n\
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  yaw_radians\": -1.539149298708497,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1765233755.2077417,\n      \"lon\": -121.98923108299829,\n\
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  yaw_radians\": -1.539149298708497,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1765233755.2479424,\n      \"lon\": -121.98923108299829,\n\
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  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.2883036,\n      \"lon\": -121.98923108551466,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.3080745,\n\
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  yaw_radians\": -1.5390216653034379,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.3277497,\n      \"lon\": -121.98923108551466,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.3479228,\n\
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  yaw_radians\": -1.5390216653034379,\n      \"speed\": 0,\n      \"segment_id\":\
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  \    {\n      \"timestamp\": 1765233755.3676364,\n      \"lon\": -121.98923108800923,\n\
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  \      \"lon\": -121.98923108800923,\n      \"lat\": 37.376789656806224,\n     \
  \ \"yaw_radians\": -1.5388948467325378,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.4074285,\n      \"lon\": -121.98923108800923,\n\
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  \ \"yaw_radians\": -1.5388948467325378,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.4479272,\n      \"lon\": -121.98923108800923,\n\
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  \    {\n      \"timestamp\": 1765233755.4878607,\n      \"lon\": -121.98923109053584,\n\
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  yaw_radians\": -1.5387695562500092,\n      \"speed\": 0,\n      \"segment_id\":\
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  \    {\n      \"timestamp\": 1765233755.5277226,\n      \"lon\": -121.98923109053584,\n\
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  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.8078141,\n      \"lon\": -121.98923109802442,\n\
  \      \"lat\": 37.37678965063553,\n      \"yaw_radians\": -1.5383988700466487,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.8279893,\n\
  \      \"lon\": -121.98923109802442,\n      \"lat\": 37.37678965063553,\n      \"\
  yaw_radians\": -1.5383988700466487,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.847218,\n      \"lon\": -121.9892311005108,\n\
  \      \"lat\": 37.376789649132306,\n      \"yaw_radians\": -1.538277269167121,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.8674858,\n\
  \      \"lon\": -121.9892311005108,\n      \"lat\": 37.376789649132306,\n      \"\
  yaw_radians\": -1.538277269167121,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1765233755.8877122,\n      \"lon\": -121.9892311005108,\n\
  \      \"lat\": 37.376789649132306,\n      \"yaw_radians\": -1.538277269167121,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.907878,\n\
  \      \"lon\": -121.9892311005108,\n      \"lat\": 37.376789649132306,\n      \"\
  yaw_radians\": -1.538277269167121,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1765233755.928098,\n      \"lon\": -121.9892311005108,\n\
  \      \"lat\": 37.376789649132306,\n      \"yaw_radians\": -1.538277269167121,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.947309,\n\
  \      \"lon\": -121.98923110297794,\n      \"lat\": 37.37678964769175,\n      \"\
  yaw_radians\": -1.5381563648794325,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233755.96748,\n      \"lon\": -121.98923110297794,\n\
  \      \"lat\": 37.37678964769175,\n      \"yaw_radians\": -1.5381563648794325,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233755.9878864,\n\
  \      \"lon\": -121.98923110297794,\n      \"lat\": 37.37678964769175,\n      \"\
  yaw_radians\": -1.5381563648794325,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.007846,\n      \"lon\": -121.98923110297794,\n\
  \      \"lat\": 37.37678964769175,\n      \"yaw_radians\": -1.5381563648794325,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.0273838,\n\
  \      \"lon\": -121.98923110297794,\n      \"lat\": 37.37678964769175,\n      \"\
  yaw_radians\": -1.5381563648794325,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.0475786,\n      \"lon\": -121.98923110547128,\n\
  \      \"lat\": 37.376789646186076,\n      \"yaw_radians\": -1.538036982574916,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.0678205,\n\
  \      \"lon\": -121.98923110547128,\n      \"lat\": 37.376789646186076,\n     \
  \ \"yaw_radians\": -1.538036982574916,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.0875716,\n      \"lon\": -121.98923110547128,\n\
  \      \"lat\": 37.376789646186076,\n      \"yaw_radians\": -1.538036982574916,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.1077323,\n\
  \      \"lon\": -121.98923110547128,\n      \"lat\": 37.376789646186076,\n     \
  \ \"yaw_radians\": -1.538036982574916,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.1273973,\n      \"lon\": -121.98923110547128,\n\
  \      \"lat\": 37.376789646186076,\n      \"yaw_radians\": -1.538036982574916,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.1476583,\n\
  \      \"lon\": -121.98923110792903,\n      \"lat\": 37.376789644661635,\n     \
  \ \"yaw_radians\": -1.5379180703036657,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.1678243,\n      \"lon\": -121.98923110792903,\n\
  \      \"lat\": 37.376789644661635,\n      \"yaw_radians\": -1.5379180703036657,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.1874835,\n\
  \      \"lon\": -121.98923110792903,\n      \"lat\": 37.376789644661635,\n     \
  \ \"yaw_radians\": -1.5379180703036657,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.2076924,\n      \"lon\": -121.98923110792903,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.2274115,\n\
  \      \"lon\": -121.98923110792903,\n      \"lat\": 37.376789644661635,\n     \
  \ \"yaw_radians\": -1.5379180703036657,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.2476408,\n      \"lon\": -121.98923110792903,\n\
  \      \"lat\": 37.376789644661635,\n      \"yaw_radians\": -1.5379180703036657,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.2678463,\n\
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  yaw_radians\": -1.5377996839556136,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.2876518,\n      \"lon\": -121.98923111035566,\n\
  \      \"lat\": 37.37678964313029,\n      \"yaw_radians\": -1.5377996839556136,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.307835,\n\
  \      \"lon\": -121.98923111035566,\n      \"lat\": 37.37678964313029,\n      \"\
  yaw_radians\": -1.5377996839556136,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.327518,\n      \"lon\": -121.98923111035566,\n\
  \      \"lat\": 37.37678964313029,\n      \"yaw_radians\": -1.5377996839556136,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.347677,\n\
  \      \"lon\": -121.98923111035566,\n      \"lat\": 37.37678964313029,\n      \"\
  yaw_radians\": -1.5377996839556136,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.367846,\n      \"lon\": -121.98923111281825,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.387619,\n\
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  yaw_radians\": -1.5376832950966075,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.4077637,\n      \"lon\": -121.98923111281825,\n\
  \      \"lat\": 37.3767896410739,\n      \"yaw_radians\": -1.5376832950966075,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.4275093,\n\
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  yaw_radians\": -1.5376832950966075,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.447686,\n      \"lon\": -121.98923111281825,\n\
  \      \"lat\": 37.3767896410739,\n      \"yaw_radians\": -1.5376832950966075,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233756.4675813,\n\
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  yaw_radians\": -1.5375695293850966,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.4877906,\n      \"lon\": -121.98923111532906,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
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  yaw_radians\": -1.5375695293850966,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233756.5274415,\n      \"lon\": -121.98923111409238,\n\
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  \      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\
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  \ \"yaw_radians\": 1.5771616850291215,\n      \"speed\": 0,\n      \"segment_id\"\
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  \ \"yaw_radians\": 1.5771854910614318,\n      \"speed\": 0,\n      \"segment_id\"\
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  \ \"yaw_radians\": 1.5771854910614318,\n      \"speed\": 0,\n      \"segment_id\"\
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  \ \"yaw_radians\": 1.5772407953523588,\n      \"speed\": 0,\n      \"segment_id\"\
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  \ \"yaw_radians\": 1.5773460285652208,\n      \"speed\": 0,\n      \"segment_id\"\
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  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1765233798.3589137,\n      \"lon\": -121.9896159934275,\n\
  \      \"lat\": 37.3767811312227,\n      \"yaw_radians\": 1.577446630960566,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.378677,\n\
  \      \"lon\": -121.98961599680212,\n      \"lat\": 37.376781128807664,\n     \
  \ \"yaw_radians\": 1.5774670440490395,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.3986852,\n      \"lon\": -121.98961599680212,\n\
  \      \"lat\": 37.376781128807664,\n      \"yaw_radians\": 1.5774670440490395,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.4188464,\n\
  \      \"lon\": -121.98961599680212,\n      \"lat\": 37.376781128807664,\n     \
  \ \"yaw_radians\": 1.5774670440490395,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.4389863,\n      \"lon\": -121.98961599680212,\n\
  \      \"lat\": 37.376781128807664,\n      \"yaw_radians\": 1.5774670440490395,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.4592168,\n\
  \      \"lon\": -121.98961599992062,\n      \"lat\": 37.376781126456486,\n     \
  \ \"yaw_radians\": 1.5774801610972975,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.4787292,\n      \"lon\": -121.98961599992062,\n\
  \      \"lat\": 37.376781126456486,\n      \"yaw_radians\": 1.5774801610972975,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.4989123,\n\
  \      \"lon\": -121.98961599992062,\n      \"lat\": 37.376781126456486,\n     \
  \ \"yaw_radians\": 1.5774801610972975,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.5191088,\n      \"lon\": -121.98961599992062,\n\
  \      \"lat\": 37.376781126456486,\n      \"yaw_radians\": 1.5774801610972975,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.538748,\n\
  \      \"lon\": -121.98961599992062,\n      \"lat\": 37.376781126456486,\n     \
  \ \"yaw_radians\": 1.5774801610972975,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.5589037,\n      \"lon\": -121.98961599992062,\n\
  \      \"lat\": 37.376781126456486,\n      \"yaw_radians\": 1.5774801610972975,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.5791073,\n\
  \      \"lon\": -121.98961600292787,\n      \"lat\": 37.376781124316636,\n     \
  \ \"yaw_radians\": 1.5774900923543413,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.598676,\n      \"lon\": -121.98961600292787,\n\
  \      \"lat\": 37.376781124316636,\n      \"yaw_radians\": 1.5774900923543413,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.618898,\n\
  \      \"lon\": -121.98961600292787,\n      \"lat\": 37.376781124316636,\n     \
  \ \"yaw_radians\": 1.5774900923543413,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.6390927,\n      \"lon\": -121.98961600292787,\n\
  \      \"lat\": 37.376781124316636,\n      \"yaw_radians\": 1.5774900923543413,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.6583896,\n\
  \      \"lon\": -121.98961600613369,\n      \"lat\": 37.376781122139406,\n     \
  \ \"yaw_radians\": 1.577505456281398,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.67872,\n      \"lon\": -121.98961600613369,\n\
  \      \"lat\": 37.376781122139406,\n      \"yaw_radians\": 1.577505456281398,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.6988914,\n\
  \      \"lon\": -121.98961600613369,\n      \"lat\": 37.376781122139406,\n     \
  \ \"yaw_radians\": 1.577505456281398,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.7191174,\n      \"lon\": -121.98961600613369,\n\
  \      \"lat\": 37.376781122139406,\n      \"yaw_radians\": 1.577505456281398,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.7387872,\n\
  \      \"lon\": -121.98961600613369,\n      \"lat\": 37.376781122139406,\n     \
  \ \"yaw_radians\": 1.577505456281398,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1765233798.7589777,\n      \"lon\": -121.9896160092662,\n\
  \      \"lat\": 37.376781120059064,\n      \"yaw_radians\": 1.5775186872599956,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.7787063,\n\
  \      \"lon\": -121.9896160092662,\n      \"lat\": 37.376781120059064,\n      \"\
  yaw_radians\": 1.5775186872599956,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1765233798.7989163,\n      \"lon\": -121.9896160092662,\n\
  \      \"lat\": 37.376781120059064,\n      \"yaw_radians\": 1.5775186872599956,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.8187068,\n\
  \      \"lon\": -121.9896160092662,\n      \"lat\": 37.376781120059064,\n      \"\
  yaw_radians\": 1.5775186872599956,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1765233798.8389385,\n      \"lon\": -121.9896160092662,\n\
  \      \"lat\": 37.376781120059064,\n      \"yaw_radians\": 1.5775186872599956,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.85914,\n\
  \      \"lon\": -121.98961601206459,\n      \"lat\": 37.37678111828372,\n      \"\
  yaw_radians\": 1.577522632883539,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1765233798.8787057,\n      \"lon\": -121.98961601206459,\n\
  \      \"lat\": 37.37678111828372,\n      \"yaw_radians\": 1.577522632883539,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_a1\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233798.8988984,\n\
  \      \"lon\": -121.98961601206459,\n      \"lat\": 37.37678111828372,\n      \"\
  yaw_radians\": 1.577522632883539,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_a1\",\n      \"segment_type\": \"parking_entrance\"\n    }\n  ]\n\
  }"
run_id: 7d28cade-f177-11f0-8fea-48b02d7ddada
safety_shield:
  arrow_head_length: 0.2
  arrow_head_width: 0.3
  arrow_shaft_width: 0.1
  arrow_skip: 5
  arrow_speed_scale: 0.5
  boundary_topic: /obstacle/dab
  boundary_viz_topic: ~boundary
  car_frame: car
  car_frame_path_viz_topic: ~car_frame_path_viz
  car_frame_traj_topic: ~car_frame_traj
  collision_points_topic: ~collision_points
  default_mode: 2
  input_path_viz_topic: ~input_path_viz
  input_traj_topic: ~input_traj
  min_arrow_length: 0.3
  modes:
    Approach:
      collision_check_skip: 2
      deceleration: 1.5
      forward_margin: 3.8
      mode_num: 1
      safety_margin: 1.2
      stopping_distance: 2.0
    Disabled:
      collision_check_skip: 1
      deceleration: .nan
      forward_margin: .nan
      mode_num: 0
      safety_margin: .nan
      stopping_distance: .nan
    Scooch:
      collision_check_skip: 2
      deceleration: 2.0
      forward_margin: 3.8
      mode_num: 2
      safety_margin: 0.75
      stopping_distance: 0.3
  moving_color:
  - 0.0
  - 1.0
  - 0.0
  - 1.0
  output_path_viz_topic: ~output_path_viz
  output_traj_topic: /vehicle_trajectory_control
  rect_markers_topic: ~collision_rects
  site_frame: site
  speed_profile_dist_topic: ~speed_profile_dist
  speed_profile_speed_topic: ~speed_profile_speed
  stopped_color:
  - 1.0
  - 0.0
  - 0.0
  - 1.0
  stopped_speed_threshold: 0.1
  trajectory_input_topic: /recorded_vehicle_trajectory
simulation_mode: false
site_data_file: /var/tmp/site_data.json
site_data_json: "{\n  \"_id\": \"69024cb6849867189cce87b4\",\n  \"id\": \"natcsv\"\
  ,\n  \"map_center\": {\n    \"lat\": 37.3767673829942,\n    \"lon\": -121.98958992391516,\n\
  \    \"bearing\": 0,\n    \"zoom\": 18.5\n  },\n  \"regions_of_interest\": [\n \
  \   {\n      \"id\": \"multi_roi_route1_roi_1\",\n      \"search_type\": \"all\"\
  ,\n      \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.37727425658365,\n          \"lon\": -121.98952081098021\n\
  \        },\n        {\n          \"lat\": 37.37731111137564,\n          \"lon\"\
  : -121.98952237880296\n        },\n        {\n          \"lat\": 37.377308227277915,\n\
  \          \"lon\": -121.98936484191496\n        },\n        {\n          \"lat\"\
  : 37.37727783448984,\n          \"lon\": -121.9893627778084\n        },\n      \
  \  {\n          \"lat\": 37.37727425658365,\n          \"lon\": -121.98952081098021\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD04\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_2\",\n      \"search_type\": \"all\",\n    \
  \  \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n      \
  \    \"lat\": 37.37731039035388,\n          \"lon\": -121.98936519329388\n     \
  \   },\n        {\n          \"lat\": 37.37731046074225,\n          \"lon\": -121.98913204363413\n\
  \        },\n        {\n          \"lat\": 37.3772810909841,\n          \"lon\"\
  : -121.98913010414331\n        },\n        {\n          \"lat\": 37.37727894685214,\n\
  \          \"lon\": -121.98936211988728\n        },\n        {\n          \"lat\"\
  : 37.37731039035388,\n          \"lon\": -121.98936519329388\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD04\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_3\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.377310460741526,\n     \
  \     \"lon\": -121.98913295097685\n        },\n        {\n          \"lat\": 37.37730818251449,\n\
  \          \"lon\": -121.98887430086175\n        },\n        {\n          \"lat\"\
  : 37.37727664767067,\n          \"lon\": -121.98887365809337\n        },\n     \
  \   {\n          \"lat\": 37.37728181201034,\n          \"lon\": -121.98913101148602\n\
  \        },\n        {\n          \"lat\": 37.377310460741526,\n          \"lon\"\
  : -121.98913295097685\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD04\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_4\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.37730890353769,\n          \"lon\": -121.98887430086172\n\
  \        },\n        {\n          \"lat\": 37.37730792741043,\n          \"lon\"\
  : -121.98855865880043\n        },\n        {\n          \"lat\": 37.377271344035954,\n\
  \          \"lon\": -121.98855359392377\n        },\n        {\n          \"lat\"\
  : 37.37727736869387,\n          \"lon\": -121.98887365809334\n        },\n     \
  \   {\n          \"lat\": 37.37730890353769,\n          \"lon\": -121.98887430086172\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD05\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_5\",\n      \"search_type\": \"all\",\n    \
  \  \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n      \
  \    \"lat\": 37.37730648535235,\n          \"lon\": -121.9885559367719\n      \
  \  },\n        {\n          \"lat\": 37.37728124948741,\n          \"lon\": -121.9882630077655\n\
  \        },\n        {\n          \"lat\": 37.37722702869215,\n          \"lon\"\
  : -121.98841107598112\n        },\n        {\n          \"lat\": 37.377270623013,\n\
  \          \"lon\": -121.98855450126607\n        },\n        {\n          \"lat\"\
  : 37.37730648535235,\n          \"lon\": -121.9885559367719\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD05\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_6\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.377271080253834,\n     \
  \     \"lon\": -121.98827549400659\n        },\n        {\n          \"lat\": 37.37713172630353,\n\
  \          \"lon\": -121.98831719453584\n        },\n        {\n          \"lat\"\
  : 37.377131064459135,\n          \"lon\": -121.98843166576552\n        },\n    \
  \    {\n          \"lat\": 37.37722512120858,\n          \"lon\": -121.98840870593568\n\
  \        },\n        {\n          \"lat\": 37.377271080253834,\n          \"lon\"\
  : -121.98827549400659\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD03\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_7\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.377180587063464,\n          \"lon\": -121.98871634388377\n\
  \        },\n        {\n          \"lat\": 37.377171737246385,\n          \"lon\"\
  : -121.98842020161183\n        },\n        {\n          \"lat\": 37.37713976772042,\n\
  \          \"lon\": -121.98842968465306\n        },\n        {\n          \"lat\"\
  : 37.377146984163716,\n          \"lon\": -121.9887151573203\n        },\n     \
  \   {\n          \"lat\": 37.377180587063464,\n          \"lon\": -121.98871634388377\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD02\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_8p\",\n      \"search_type\": \"specific\",\n\
  \      \"search_type_categories\": [\n        \"pedestrian\"\n      ],\n      \"\
  coordinates\": [\n        {\n          \"lat\": 37.37720186708479,\n          \"\
  lon\": -121.98871836338732\n        },\n        {\n          \"lat\": 37.37719289104815,\n\
  \          \"lon\": -121.98841686054286\n        },\n        {\n          \"lat\"\
  : 37.377118320856695,\n          \"lon\": -121.9884359759967\n        },\n     \
  \   {\n          \"lat\": 37.37711763039165,\n          \"lon\": -121.98871662561886\n\
  \        },\n        {\n          \"lat\": 37.37720186708479,\n          \"lon\"\
  : -121.98871836338732\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD02\"\
  \n    },\n    {\n      \"id\": \"natcsv_roi_9\",\n      \"search_type\": \"all\"\
  ,\n      \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n\
  \          \"lat\": 37.37705458699665,\n          \"lon\": -121.98916162379288\n\
  \        },\n        {\n          \"lat\": 37.37705639554531,\n          \"lon\"\
  : -121.98823761497655\n        },\n        {\n          \"lat\": 37.37699671341312,\n\
  \          \"lon\": -121.98823761497655\n        },\n        {\n          \"lat\"\
  : 37.3769903834867,\n          \"lon\": -121.98916162379288\n        },\n      \
  \  {\n          \"lat\": 37.37705458699665,\n          \"lon\": -121.98916162379288\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD03\"\n    }\n  ]\n}"
tf_publisher:
  pose_topic: /dynamic_global_pose
  robot_description_file: /root/projects/fvla-base/nrc_ws/src/fvla_scripts/xacro/sierra.xacro
  target_frame: car
use_sim_time: false
vehicle:
  can_odom:
    description: defined for Nissan Leaf (NRC_Leaf_Hotel)
    hz: 50
    odom_factor: 1.033
    steering_factor: 0.86
    steering_ratio: 18.1
    wheel_base: 2.7
  swiftnav:
    description: defined for zed2i left camera on roof rack for shuttle vehicle
    offset:
    - 1.63737
    - 0.0
    - 0.0
  tags_zed_left_cam:
    description: defined for zed2i left camera on roof rack for shuttle vehicle
    offset:
    - 2.275320706603564
    - 0.06000000000000001
    - 0.0
vehicleFeeder:
  dynamicPoseTopicName: /dynamic_global_pose
  sourceMode: MODE_DYNAMIC_POSE
vehicleParameters:
  aeroDragCoeff: 0.31
  airDensity: 1.225
  controlPointToFront: 3.7
  controlPointToRear: 0.75
  fAxleCorneringStiffness: 62968.0
  frontalArea: 2.0
  gravity: 9.80665
  massFront: 980.0
  massRear: 815.0
  maxCurvature: 0.19
  maxLateralAcceleration: 3.0
  motorLatency: 0.03
  rAxleCorneringStiffness: 80190.0
  rollingResistanceCoef: 0.01
  steerRatio: 18.3
  steeringLatency: 0.03
  wheelBase: 2.7
  wheelRadius: 0.37
  width: 1.77
vehicle_data_file: /var/tmp/vehicle_data.json
vehicle_data_json: "{\n  \"_id\": \"68bb4a8b75833b9f9019c174\",\n  \"vin\": \"NRC_Leaf_Sierra\"\
  ,\n  \"description\": {\n    \"year\": 2024.0,\n    \"model\": \"Nissan Leaf\",\n\
  \    \"trim\": \"SL\",\n    \"color\": \"gray\"\n  }\n}"
vehicle_id: NRC_Leaf_Sierra
vtc_gen_node:
  dgp_sub_topic: /dynamic_global_pose
  enable_dm: true
  max_traj_start_dist_meters: 10
  next_dest_topic: /destination
  publish_dp_viz_markers: true
  reached_dp_dist_tol_meters: 2.0
  reached_goal_dist_tol_meters: 0.5
  roi_latency_tol_secs: 5.0
  safety_shield_mode_topic: /ss_mode
  sim_mode: false
  stop_distance_offset: 4.7
  traj_start_idx: 0
  traj_switch_sleep_secs: 0.0
  veh_dest_topic: /destination_state
  vtc_boundary_dist_m: 5.0
  vtc_horizon_secs: 6
  vtc_num_steps: 25
  vtc_pub_hz: 10
  vtc_pub_topic: /recorded_vehicle_trajectory
  vtc_time_diff: 0.24
  zero_speed_meters_per_sec: 0.05
zed2i:
  zed_node:
    auto_exposure_gain: true
    auto_whitebalance: true
    brightness: 4
    contrast: 4
    depth:
      depth_mode: NEURAL_PLUS
      depth_registered:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
          depth_max: 10.0
          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      depth_stabilization: 10
      max_depth: 15.0
      min_depth: 0.3
      openni_depth_mode: false
    depth_confidence: 50
    depth_texture_conf: 100
    exposure: 100
    gain: 100
    gamma: 8
    general:
      base_frame: dongle_center
      camera_flip: AUTO
      camera_model: zed2i
      camera_name: zed2i
      gpu_id: -1
      grab_frame_rate: 30
      grab_resolution: HD720
      pub_downscale_factor: 2.0
      pub_frame_rate: 30.0
      pub_resolution: NATIVE
      region_of_interest: '[]'
      sdk_verbose: 1
      self_calib: true
      serial_number: 0
      svo_compression: 2
      svo_realtime: true
      zed_id: 0
    hue: 0
    left:
      image_rect_color:
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          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
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    mapping:
      clicked_point_topic: /clicked_point
      fused_pointcloud_freq: 1.0
      mapping_enabled: false
      max_mapping_range: -1
      resolution: 0.05
    object_detection:
      allow_reduced_precision_inference: true
      max_range: 15.0
      mc_animal: true
      mc_bag: true
      mc_electronics: true
      mc_fruit_vegetable: true
      mc_people: true
      mc_sport: true
      mc_vehicle: true
      model: MULTI_CLASS_BOX_ACCURATE
      object_tracking_enabled: true
      od_enabled: false
      prediction_timeout: 0.5
    point_cloud_freq: 10.0
    pos_tracking:
      area_memory: true
      area_memory_db_path: ''
      depth_min_range: 0.0
      fixed_z_value: 0.0
      floor_alignment: false
      imu_fusion: true
      init_odom_with_first_valid_pose: true
      initial_base_pose:
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      - 0.0
      - 0.0
      - 0.0
      - 0.0
      - 0.0
      map_frame: map
      odometry_frame: odom
      path_max_count: -1
      path_pub_rate: 2.0
      pos_tracking_enabled: false
      pos_tracking_mode: GEN_2
      publish_map_tf: true
      publish_tf: true
      save_area_memory_db_on_exit: false
      set_as_static: false
      set_gravity_as_origin: true
      two_d_mode: false
    rgb:
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          jpeg_optimize: false
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          jpeg_quality: 80
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    right:
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    right_raw:
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          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
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        theora:
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          target_bitrate: 800000
    saturation: 4
    sensors:
      max_pub_rate: 200.0
      publish_imu_tf: true
      sensors_timestamp_sync: false
    sharpness: 4
    stereo:
      image_rect_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
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          format: png
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        theora:
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    stereo_raw:
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          format: png
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        theora:
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          target_bitrate: 800000
    stream: ''
    svo_file: ''
    whitebalance_temperature: 0
