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__32989: http://sierra.mist-halibut.ts.net:32989/
    host_sierra_mist_halibut_ts_net__33143: http://sierra.mist-halibut.ts.net:33143/
    host_sierra_mist_halibut_ts_net__34679: http://sierra.mist-halibut.ts.net:34679/
    host_sierra_mist_halibut_ts_net__34877: http://sierra.mist-halibut.ts.net:34877/
    host_sierra_mist_halibut_ts_net__35353: http://sierra.mist-halibut.ts.net:35353/
    host_sierra_mist_halibut_ts_net__35783: http://sierra.mist-halibut.ts.net:35783/
    host_sierra_mist_halibut_ts_net__36079: http://sierra.mist-halibut.ts.net:36079/
    host_sierra_mist_halibut_ts_net__37333: http://sierra.mist-halibut.ts.net:37333/
    host_sierra_mist_halibut_ts_net__37573: http://sierra.mist-halibut.ts.net:37573/
    host_sierra_mist_halibut_ts_net__39255: http://sierra.mist-halibut.ts.net:39255/
    host_sierra_mist_halibut_ts_net__39801: http://sierra.mist-halibut.ts.net:39801/
    host_sierra_mist_halibut_ts_net__40933: http://sierra.mist-halibut.ts.net:40933/
    host_sierra_mist_halibut_ts_net__41535: http://sierra.mist-halibut.ts.net:41535/
    host_sierra_mist_halibut_ts_net__43315: http://sierra.mist-halibut.ts.net:43315/
rosversion: '1.17.0

  '
route_data_file: /var/tmp/route_data.json
route_data_json: "{\n  \"start_point\": {\n    \"lon\": -121.98961703762902,\n   \
  \ \"lat\": 37.37678349407197,\n    \"yaw\": 1.3753005116320807\n  },\n  \"start_junction\"\
  : {\n    \"_id\": \"69024ceb849867189cce87b6\",\n    \"site_id\": \"natcsv\",\n\
  \    \"type\": \"start\",\n    \"lat\": 37.376725384945956,\n    \"lon\": -121.98959370895115,\n\
  \    \"id\": \"parking_lot_bay_a_start\"\n  },\n  \"end_junction\": {\n    \"_id\"\
  : \"69024ceb849867189cce87bb\",\n    \"site_id\": \"natcsv\",\n    \"type\": \"\
  end\",\n    \"lat\": 37.37673249309747,\n    \"lon\": -121.98961665107001,\n   \
  \ \"id\": \"parking_lot_bay_a2_end\"\n  },\n  \"path_summary\": [\n    \"parking_lot_bay_a_start\"\
  ,\n    \"departure_segment_a\",\n    \"parking_lot_bays_exit\",\n    \"driving_segment_parking_lot\"\
  ,\n    \"parking_lot_bays_entrance\",\n    \"parking_segment_a2\",\n    \"parking_lot_bay_a2_end\"\
  \n  ],\n  \"decision_points\": [],\n  \"traj\": [\n    {\n      \"timestamp\": 1761330966.8903728,\n\
  \      \"lon\": -121.98961483651806,\n      \"lat\": 37.376727529016826,\n     \
  \ \"yaw_radians\": 1.6046679511655364,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330966.910334,\n      \"lon\": -121.98961483651806,\n\
  \      \"lat\": 37.376727529016826,\n      \"yaw_radians\": 1.6046679511655364,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330966.9299324,\n  \
  \    \"lon\": -121.98961483651806,\n      \"lat\": 37.376727529016826,\n      \"\
  yaw_radians\": 1.6046679511655364,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330966.9499805,\n      \"lon\": -121.98961483731287,\n\
  \      \"lat\": 37.376727535330474,\n      \"yaw_radians\": 1.6046463486198628,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330966.9700077,\n  \
  \    \"lon\": -121.98961483731287,\n      \"lat\": 37.376727535330474,\n      \"\
  yaw_radians\": 1.6046463486198628,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330966.9902349,\n      \"lon\": -121.98961483731287,\n\
  \      \"lat\": 37.376727535330474,\n      \"yaw_radians\": 1.6046463486198628,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.0103307,\n  \
  \    \"lon\": -121.98961483731287,\n      \"lat\": 37.376727535330474,\n      \"\
  yaw_radians\": 1.6046463486198628,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.030144,\n      \"lon\": -121.98961483731287,\n\
  \      \"lat\": 37.376727535330474,\n      \"yaw_radians\": 1.6046463486198628,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.0501878,\n  \
  \    \"lon\": -121.98961483808654,\n      \"lat\": 37.37672754162353,\n      \"\
  yaw_radians\": 1.6046245541248925,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.070195,\n      \"lon\": -121.98961483808654,\n\
  \      \"lat\": 37.37672754162353,\n      \"yaw_radians\": 1.6046245541248925,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.0903027,\n  \
  \    \"lon\": -121.98961483808654,\n      \"lat\": 37.37672754162353,\n      \"\
  yaw_radians\": 1.6046245541248925,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.1103408,\n      \"lon\": -121.98961483808654,\n\
  \      \"lat\": 37.37672754162353,\n      \"yaw_radians\": 1.6046245541248925,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.1303005,\n  \
  \    \"lon\": -121.98961483808654,\n      \"lat\": 37.37672754162353,\n      \"\
  yaw_radians\": 1.6046245541248925,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.1503396,\n      \"lon\": -121.98961483886617,\n\
  \      \"lat\": 37.37672754790328,\n      \"yaw_radians\": 1.6046029230888574,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.1703322,\n  \
  \    \"lon\": -121.98961483886617,\n      \"lat\": 37.37672754790328,\n      \"\
  yaw_radians\": 1.6046029230888574,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.1904125,\n      \"lon\": -121.98961483886617,\n\
  \      \"lat\": 37.37672754790328,\n      \"yaw_radians\": 1.6046029230888574,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.2104406,\n  \
  \    \"lon\": -121.98961483886617,\n      \"lat\": 37.37672754790328,\n      \"\
  yaw_radians\": 1.6046029230888574,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.2496605,\n      \"lon\": -121.98961483886617,\n\
  \      \"lat\": 37.37672754790328,\n      \"yaw_radians\": 1.6046029230888574,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.3496604,\n  \
  \    \"lon\": -121.98961483964463,\n      \"lat\": 37.37672755422679,\n      \"\
  yaw_radians\": 1.604581216989471,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.3896627,\n      \"lon\": -121.98961483964463,\n\
  \      \"lat\": 37.37672755422679,\n      \"yaw_radians\": 1.604581216989471,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.4096124,\n  \
  \    \"lon\": -121.98961483964463,\n      \"lat\": 37.37672755422679,\n      \"\
  yaw_radians\": 1.604581216989471,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.4296646,\n      \"lon\": -121.98961483964463,\n\
  \      \"lat\": 37.37672755422679,\n      \"yaw_radians\": 1.604581216989471,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.449768,\n   \
  \   \"lon\": -121.98961483964463,\n      \"lat\": 37.37672755422679,\n      \"yaw_radians\"\
  : 1.604581216989471,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330967.549768,\n      \"lon\": -121.9896148404376,\n      \"lat\": 37.37672756067934,\n\
  \      \"yaw_radians\": 1.6045594426844445,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330967.589815,\n      \"lon\": -121.9896148404376,\n\
  \      \"lat\": 37.37672756067934,\n      \"yaw_radians\": 1.6045594426844445,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.6898148,\n  \
  \    \"lon\": -121.9896148404376,\n      \"lat\": 37.37672756067934,\n      \"yaw_radians\"\
  : 1.6045594426844445,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330967.729792,\n      \"lon\": -121.9896148404376,\n      \"lat\": 37.37672756067934,\n\
  \      \"yaw_radians\": 1.6045594426844445,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330967.7497716,\n      \"lon\": -121.9896148404376,\n\
  \      \"lat\": 37.37672756067934,\n      \"yaw_radians\": 1.6045594426844445,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.8497715,\n  \
  \    \"lon\": -121.98961484123778,\n      \"lat\": 37.37672756728705,\n      \"\
  yaw_radians\": 1.604537437427142,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.8705015,\n      \"lon\": -121.98961484123778,\n\
  \      \"lat\": 37.37672756728705,\n      \"yaw_radians\": 1.604537437427142,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.8897748,\n  \
  \    \"lon\": -121.98961484123778,\n      \"lat\": 37.37672756728705,\n      \"\
  yaw_radians\": 1.604537437427142,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.9297452,\n      \"lon\": -121.98961484123778,\n\
  \      \"lat\": 37.37672756728705,\n      \"yaw_radians\": 1.604537437427142,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.9497547,\n  \
  \    \"lon\": -121.98961484123778,\n      \"lat\": 37.37672756728705,\n      \"\
  yaw_radians\": 1.604537437427142,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1761330967.969539,\n      \"lon\": -121.9896148420463,\n \
  \     \"lat\": 37.37672757415237,\n      \"yaw_radians\": 1.6045149670654941,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330967.9897552,\n  \
  \    \"lon\": -121.9896148420463,\n      \"lat\": 37.37672757415237,\n      \"yaw_radians\"\
  : 1.6045149670654941,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.009877,\n      \"lon\": -121.9896148420463,\n      \"lat\": 37.37672757415237,\n\
  \      \"yaw_radians\": 1.6045149670654941,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330968.029759,\n      \"lon\": -121.9896148420463,\n\
  \      \"lat\": 37.37672757415237,\n      \"yaw_radians\": 1.6045149670654941,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330968.0497494,\n  \
  \    \"lon\": -121.98961484264007,\n      \"lat\": 37.37672758844498,\n      \"\
  yaw_radians\": 1.6045156260978124,\n      \"speed\": 0.07685121028844032,\n    \
  \  \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.0695422,\n      \"lon\": -121.9896148452527,\n\
  \      \"lat\": 37.37672763920916,\n      \"yaw_radians\": 1.6044949615254753,\n\
  \      \"speed\": 0.23662083167756626,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.0897722,\n      \"lon\": -121.989614847726,\n      \"lat\": 37.37672769877804,\n\
  \      \"yaw_radians\": 1.6044996309534,\n      \"speed\": 0.3165056423721292,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.1099157,\n      \"lon\": -121.98961485024157,\n\
  \      \"lat\": 37.37672775935596,\n      \"yaw_radians\": 1.6045052174534649,\n\
  \      \"speed\": 0.3232469766079573,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.1297286,\n      \"lon\": -121.98961485222846,\n      \"lat\": 37.376727807193305,\n\
  \      \"yaw_radians\": 1.6045111475004463,\n      \"speed\": 0.3370667117914049,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.1497574,\n      \"lon\": -121.98961485367616,\n\
  \      \"lat\": 37.376727842041554,\n      \"yaw_radians\": 1.604516882692908,\n\
  \      \"speed\": 0.3441451127390244,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.1695664,\n      \"lon\": -121.98961485676666,\n      \"lat\": 37.376727899451865,\n\
  \      \"yaw_radians\": 1.6044843316029918,\n      \"speed\": 0.3572907144988892,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.1897614,\n      \"lon\": -121.98961485960284,\n\
  \      \"lat\": 37.37672796778807,\n      \"yaw_radians\": 1.604493326835528,\n\
  \      \"speed\": 0.36908804941158835,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.2897613,\n      \"lon\": -121.98961485953821,\n      \"lat\": 37.37672796623602,\n\
  \      \"yaw_radians\": 1.6044923242562927,\n      \"speed\": 0.37515525022383367,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.329749,\n      \"lon\": -121.98961486535109,\n\
  \      \"lat\": 37.37672810623405,\n      \"yaw_radians\": 1.6045134934124041,\n\
  \      \"speed\": 0.38830085198369846,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.429749,\n      \"lon\": -121.98961486527952,\n      \"lat\": 37.376728104516154,\n\
  \      \"yaw_radians\": 1.6045123766153608,\n      \"speed\": 0.38830085198369846,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.4696438,\n      \"lon\": -121.98961487233663,\n\
  \      \"lat\": 37.37672825783019,\n      \"yaw_radians\": 1.6044939636996025,\n\
  \      \"speed\": 0.40886192140297417,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.4897566,\n      \"lon\": -121.98961487551927,\n      \"lat\": 37.37672833449124,\n\
  \      \"yaw_radians\": 1.6045053469216057,\n      \"speed\": 0.4145920555034279,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.5097492,\n      \"lon\": -121.98961487873873,\n\
  \      \"lat\": 37.376728412013094,\n      \"yaw_radians\": 1.6045164813837398,\n\
  \      \"speed\": 0.4247040568571701,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.5297577,\n      \"lon\": -121.98961488202869,\n      \"lat\": 37.376728491199344,\n\
  \      \"yaw_radians\": 1.6045281421309299,\n      \"speed\": 0.4344789914991209,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.5497508,\n      \"lon\": -121.98961488536635,\n\
  \      \"lat\": 37.37672857150582,\n      \"yaw_radians\": 1.604539201671267,\n\
  \      \"speed\": 0.4432427260056974,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330968.569736,\n      \"lon\": -121.98961488984263,\n      \"lat\": 37.376728661726546,\n\
  \      \"yaw_radians\": 1.6045021744664663,\n      \"speed\": 0.4520064605122739,\n\
  \      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1761330968.5897808,\n      \"lon\": -121.9896148933158,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.0241778,\n  \
  \    \"lon\": -121.98987038117735,\n      \"lat\": 37.376839827648105,\n      \"\
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  \      \"timestamp\": 1761330999.0441513,\n      \"lon\": -121.98987038117735,\n\
  \      \"lat\": 37.376839827648105,\n      \"yaw_radians\": 3.1261121921651083,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.064159,\n   \
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  \      \"timestamp\": 1761330999.0839734,\n      \"lon\": -121.98987040344836,\n\
  \      \"lat\": 37.376839826652564,\n      \"yaw_radians\": 3.1260660972302894,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.104154,\n   \
  \   \"lon\": -121.98987040344836,\n      \"lat\": 37.376839826652564,\n      \"\
  yaw_radians\": 3.1260660972302894,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"lat\": 37.376839826652564,\n      \"yaw_radians\": 3.1260660972302894,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.144232,\n   \
  \   \"lon\": -121.98987040344836,\n      \"lat\": 37.376839826652564,\n      \"\
  yaw_radians\": 3.1260660972302894,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.184018,\n   \
  \   \"lon\": -121.98987042671956,\n      \"lat\": 37.37683982586814,\n      \"yaw_radians\"\
  : 3.1260133499720744,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
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  : 1761330999.2043374,\n      \"lon\": -121.98987042671956,\n      \"lat\": 37.37683982586814,\n\
  \      \"yaw_radians\": 3.1260133499720744,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330999.2234032,\n      \"lon\": -121.98987042671956,\n\
  \      \"lat\": 37.37683982586814,\n      \"yaw_radians\": 3.1260133499720744,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.243385,\n   \
  \   \"lon\": -121.98987042671956,\n      \"lat\": 37.37683982586814,\n      \"yaw_radians\"\
  : 3.1260133499720744,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
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  : 1761330999.2634757,\n      \"lon\": -121.98987045099247,\n      \"lat\": 37.37683982510386,\n\
  \      \"yaw_radians\": 3.1259606221792433,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330999.2840054,\n      \"lon\": -121.98987045099247,\n\
  \      \"lat\": 37.37683982510386,\n      \"yaw_radians\": 3.1259606221792433,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.3035257,\n  \
  \    \"lon\": -121.98987045099247,\n      \"lat\": 37.37683982510386,\n      \"\
  yaw_radians\": 3.1259606221792433,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.3235383,\n      \"lon\": -121.98987045099247,\n\
  \      \"lat\": 37.37683982510386,\n      \"yaw_radians\": 3.1259606221792433,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.3435626,\n  \
  \    \"lon\": -121.98987045099247,\n      \"lat\": 37.37683982510386,\n      \"\
  yaw_radians\": 3.1259606221792433,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.363649,\n      \"lon\": -121.98987047575173,\n\
  \      \"lat\": 37.37683982436082,\n      \"yaw_radians\": 3.125907699601672,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.3839815,\n  \
  \    \"lon\": -121.98987047575173,\n      \"lat\": 37.37683982436082,\n      \"\
  yaw_radians\": 3.125907699601672,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.40366,\n      \"lon\": -121.98987047575173,\n \
  \     \"lat\": 37.37683982436082,\n      \"yaw_radians\": 3.125907699601672,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.4236872,\n  \
  \    \"lon\": -121.98987047575173,\n      \"lat\": 37.37683982436082,\n      \"\
  yaw_radians\": 3.125907699601672,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.44373,\n      \"lon\": -121.98987047575173,\n \
  \     \"lat\": 37.37683982436082,\n      \"yaw_radians\": 3.125907699601672,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.4637642,\n  \
  \    \"lon\": -121.989870500967,\n      \"lat\": 37.37683982336544,\n      \"yaw_radians\"\
  : 3.125863967951259,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330999.4832091,\n      \"lon\": -121.989870500967,\n      \"lat\": 37.37683982336544,\n\
  \      \"yaw_radians\": 3.125863967951259,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330999.5038457,\n      \"lon\": -121.989870500967,\n\
  \      \"lat\": 37.37683982336544,\n      \"yaw_radians\": 3.125863967951259,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.5238662,\n  \
  \    \"lon\": -121.989870500967,\n      \"lat\": 37.37683982336544,\n      \"yaw_radians\"\
  : 3.125863967951259,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330999.5438979,\n      \"lon\": -121.989870500967,\n      \"lat\": 37.37683982336544,\n\
  \      \"yaw_radians\": 3.125863967951259,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330999.5639467,\n      \"lon\": -121.989870500967,\n\
  \      \"lat\": 37.37683982336544,\n      \"yaw_radians\": 3.125863967951259,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.5841038,\n  \
  \    \"lon\": -121.98987052584842,\n      \"lat\": 37.37683982256602,\n      \"\
  yaw_radians\": 3.125813721155823,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.6030161,\n      \"lon\": -121.98987052584842,\n\
  \      \"lat\": 37.37683982256602,\n      \"yaw_radians\": 3.125813721155823,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.624049,\n   \
  \   \"lon\": -121.98987052584842,\n      \"lat\": 37.37683982256602,\n      \"yaw_radians\"\
  : 3.125813721155823,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330999.6430988,\n      \"lon\": -121.98987052584842,\n      \"lat\": 37.37683982256602,\n\
  \      \"yaw_radians\": 3.125813721155823,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330999.663147,\n      \"lon\": -121.98987055059848,\n\
  \      \"lat\": 37.3768398216681,\n      \"yaw_radians\": 3.125767138060714,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.6832974,\n  \
  \    \"lon\": -121.98987055059848,\n      \"lat\": 37.3768398216681,\n      \"yaw_radians\"\
  : 3.125767138060714,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330999.7032704,\n      \"lon\": -121.98987055059848,\n      \"lat\": 37.3768398216681,\n\
  \      \"yaw_radians\": 3.125767138060714,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330999.7232835,\n      \"lon\": -121.98987055059848,\n\
  \      \"lat\": 37.3768398216681,\n      \"yaw_radians\": 3.125767138060714,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.7433069,\n  \
  \    \"lon\": -121.98987055059848,\n      \"lat\": 37.3768398216681,\n      \"yaw_radians\"\
  : 3.125767138060714,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330999.763311,\n      \"lon\": -121.98987057475999,\n      \"lat\": 37.376839820655015,\n\
  \      \"yaw_radians\": 3.1257245918762764,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761330999.7833383,\n      \"lon\": -121.98987057475999,\n\
  \      \"lat\": 37.376839820655015,\n      \"yaw_radians\": 3.1257245918762764,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.8033857,\n  \
  \    \"lon\": -121.98987057475999,\n      \"lat\": 37.376839820655015,\n      \"\
  yaw_radians\": 3.1257245918762764,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.8234043,\n      \"lon\": -121.98987057475999,\n\
  \      \"lat\": 37.376839820655015,\n      \"yaw_radians\": 3.1257245918762764,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.8434207,\n  \
  \    \"lon\": -121.98987057475999,\n      \"lat\": 37.376839820655015,\n      \"\
  yaw_radians\": 3.1257245918762764,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.8634686,\n      \"lon\": -121.98987057475999,\n\
  \      \"lat\": 37.376839820655015,\n      \"yaw_radians\": 3.1257245918762764,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.8835444,\n  \
  \    \"lon\": -121.98987059848405,\n      \"lat\": 37.37683981974821,\n      \"\
  yaw_radians\": 3.1256785882154947,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.9035919,\n      \"lon\": -121.98987059848405,\n\
  \      \"lat\": 37.37683981974821,\n      \"yaw_radians\": 3.1256785882154947,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.9235802,\n  \
  \    \"lon\": -121.98987059848405,\n      \"lat\": 37.37683981974821,\n      \"\
  yaw_radians\": 3.1256785882154947,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761330999.943661,\n      \"lon\": -121.98987059848405,\n\
  \      \"lat\": 37.37683981974821,\n      \"yaw_radians\": 3.1256785882154947,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761330999.963672,\n   \
  \   \"lon\": -121.98987062156394,\n      \"lat\": 37.37683981900491,\n      \"yaw_radians\"\
  : 3.1256271598267436,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761330999.983679,\n      \"lon\": -121.98987062156394,\n      \"lat\": 37.37683981900491,\n\
  \      \"yaw_radians\": 3.1256271598267436,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331000.0036988,\n      \"lon\": -121.98987062156394,\n\
  \      \"lat\": 37.37683981900491,\n      \"yaw_radians\": 3.1256271598267436,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331000.0237622,\n  \
  \    \"lon\": -121.98987062156394,\n      \"lat\": 37.37683981900491,\n      \"\
  yaw_radians\": 3.1256271598267436,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761331000.0438468,\n      \"lon\": -121.98987062156394,\n\
  \      \"lat\": 37.37683981900491,\n      \"yaw_radians\": 3.1256271598267436,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331000.063853,\n   \
  \   \"lon\": -121.9898706442009,\n      \"lat\": 37.37683981814213,\n      \"yaw_radians\"\
  : 3.125579955213822,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761331000.083788,\n      \"lon\": -121.9898706442009,\n      \"lat\": 37.37683981814213,\n\
  \      \"yaw_radians\": 3.125579955213822,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331000.103817,\n      \"lon\": -121.9898706442009,\n\
  \      \"lat\": 37.37683981814213,\n      \"yaw_radians\": 3.125579955213822,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331000.123813,\n   \
  \   \"lon\": -121.9898706442009,\n      \"lat\": 37.37683981814213,\n      \"yaw_radians\"\
  : 3.125579955213822,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761331000.1438084,\n      \"lon\": -121.9898706442009,\n      \"lat\": 37.37683981814213,\n\
  \      \"yaw_radians\": 3.125579955213822,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331000.163827,\n      \"lon\": -121.98987066627332,\n\
  \      \"lat\": 37.37683981748278,\n      \"yaw_radians\": 3.125526053581719,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331000.183826,\n   \
  \   \"lon\": -121.98987066627332,\n      \"lat\": 37.37683981748278,\n      \"yaw_radians\"\
  : 3.125526053581719,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1761331000.203826,\n      \"lon\": -121.98987066627332,\n      \"lat\": 37.37683981748278,\n\
  \      \"yaw_radians\": 3.125526053581719,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331000.223848,\n      \"lon\": -121.98987066627332,\n\
  \      \"lat\": 37.37683981748278,\n      \"yaw_radians\": 3.125526053581719,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331000.2438133,\n  \
  \    \"lon\": -121.98987066627332,\n      \"lat\": 37.37683981748278,\n      \"\
  yaw_radians\": 3.125526053581719,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"timestamp\": 1761331000.2638602,\n      \"lon\": -121.9898706880661,\n\
  \      \"lat\": 37.37683981650938,\n      \"yaw_radians\": 3.1254829281328673,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331000.2838295,\n  \
  \    \"lon\": -121.9898706880661,\n      \"lat\": 37.37683981650938,\n      \"yaw_radians\"\
  : 3.1254829281328673,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_a\"\
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  \   {\n      \"timestamp\": 1761331001.1028461,\n      \"lon\": -121.9898708414244,\n\
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  \   {\n      \"timestamp\": 1761331001.1628597,\n      \"lon\": -121.98987085861337,\n\
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  \   {\n      \"timestamp\": 1761331001.722877,\n      \"lon\": -121.98987093780829,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331001.7428684,\n  \
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  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331001.782991,\n      \"lon\": -121.98987095262181,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331001.8029327,\n  \
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  yaw_radians\": 3.1247576129345105,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331001.8428636,\n  \
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  yaw_radians\": 3.1247576129345105,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331001.8830693,\n  \
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  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331001.9228854,\n      \"lon\": -121.98987096717767,\n\
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  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1761331001.9428966,\n  \
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  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331001.9831178,\n      \"lon\": -121.98987098134863,\n\
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  \   {\n      \"timestamp\": 1761331002.0832138,\n      \"lon\": -121.98987099533753,\n\
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  yaw_radians\": 3.124610246608941,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \   {\n      \"timestamp\": 1761331002.5428882,\n      \"lon\": -121.98987104789357,\n\
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  \   {\n      \"timestamp\": 1761331002.6025274,\n      \"lon\": -121.98987106026,\n\
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  : \"departure_segment_a\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1761331002.663236,\n      \"lon\": -121.98987107230563,\n\
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  \n    },\n    {\n      \"timestamp\": 1765233714.6578627,\n      \"lon\": -121.98987626813955,\n\
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  yaw_radians\": 3.131176488806562,\n      \"speed\": 1.7193772968479561,\n      \"\
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  \n    },\n    {\n      \"timestamp\": 1765233714.6977355,\n      \"lon\": -121.98987706289658,\n\
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  yaw_radians\": 3.130401388528836,\n      \"speed\": 1.751735701179931,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.7377324,\n      \"lon\": -121.98987787649965,\n\
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  \      \"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\": 1765233714.7777336,\n      \"lon\"\
  : -121.98987871186124,\n      \"lat\": 37.376845859766334,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233714.7977712,\n      \"lon\": -121.9898791315509,\n\
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  \      \"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\": 1765233714.837729,\n      \"lon\": -121.9898799783889,\n\
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  \      \"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\": 1765233714.8777466,\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\": 1765233714.8978229,\n      \"lon\": -121.98988127678157,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.9175959,\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\": 1765233714.937708,\n      \"lon\": -121.98988214449464,\n\
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  \      \"speed\": 1.884877052337536,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.9577107,\n\
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  yaw_radians\": 3.121524692225645,\n      \"speed\": 1.8936407868441125,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233714.977673,\n      \"lon\": -121.98988302836209,\n\
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  \      \"speed\": 1.901393321215315,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233714.9977183,\n\
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  yaw_radians\": 3.119170857353028,\n      \"speed\": 1.9115053225690568,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.017341,\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\": 1765233715.0376718,\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\": 1765233715.0576835,\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\": 1765233715.0777063,\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\": 1765233715.09768,\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\": 1765233715.1171663,\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\": 1765233715.1376889,\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\": 1765233715.1576748,\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\": 1765233715.177654,\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\": 1765233715.1976702,\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\": 1765233715.2170298,\n      \"lon\":\
  \ -121.98988843139858,\n      \"lat\": 37.37684604158859,\n      \"yaw_radians\"\
  : 3.1009145889303396,\n      \"speed\": 1.9819522653334607,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233715.2376306,\n      \"lon\": -121.98988892025054,\n\
  \      \"lat\": 37.376846057565906,\n      \"yaw_radians\": 3.098579363899986,\n\
  \      \"speed\": 1.9900418664164545,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.2576141,\n\
  \      \"lon\": -121.98988938397441,\n      \"lat\": 37.37684607450799,\n      \"\
  yaw_radians\": 3.0961184594091344,\n      \"speed\": 1.9920642666872026,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.2776144,\n      \"lon\": -121.98988984776221,\n\
  \      \"lat\": 37.376846091438885,\n      \"yaw_radians\": 3.0937051445154164,\n\
  \      \"speed\": 1.998131467499448,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.2976198,\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\": 1765233715.3178372,\n      \"lon\": -121.98989076974397,\n\
  \      \"lat\": 37.376846127782336,\n      \"yaw_radians\": 3.088603361052591,\n\
  \      \"speed\": 2.005546935158859,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.3375921,\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\": 1765233715.357612,\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\": 1765233715.3776023,\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\": 1765233715.3975863,\n\
  \      \"lon\": -121.98989264277657,\n      \"lat\": 37.37684621143629,\n      \"\
  yaw_radians\": 3.077115603919465,\n      \"speed\": 2.006221068582442,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233715.4178276,\n      \"lon\": -121.98989312515809,\n\
  \      \"lat\": 37.37684623634993,\n      \"yaw_radians\": 3.0738966687402636,\n\
  \      \"speed\": 2.0062210685824424,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233715.4370263,\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\": 1765233715.4576252,\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\": 1765233715.477601,\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\": 1765233715.4975858,\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\": 1765233715.5176015,\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\": 1765233715.5378025,\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\": 1765233715.5576024,\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\": 1765233715.5775988,\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\": 1765233715.5975938,\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\": 1765233715.6176178,\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\": 1765233715.6378264,\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\": 1765233715.657613,\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\": 1765233715.6775966,\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\": 1765233715.6975942,\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\": 1765233715.717586,\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\": 1765233715.7377481,\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\": 1765233715.7576118,\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\": 1765233715.777616,\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\": 1765233715.7976441,\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\": 1765233715.8176174,\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\": 1765233715.8377793,\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\": 1765233715.8576338,\n\
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  yaw_radians\": 2.9878281323909226,\n      \"speed\": 1.9435266601892403,\n     \
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  yaw_radians\": 2.9781442453879095,\n      \"speed\": 1.9276845247350443,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 2.9684347359027727,\n      \"speed\": 1.9098199890101002,\n     \
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  \      \"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\":\
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  yaw_radians\": 2.943701749299804,\n      \"speed\": 1.8619565159357205,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 2.9339910237903406,\n      \"speed\": 1.8417325132282365,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 2.9234983215448214,\n      \"speed\": 1.825553311062249,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.1374826,\n      \"lon\": -121.98990934844373,\n\
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  \ \"yaw_radians\": 2.912833057669917,\n      \"speed\": 1.814767176284924,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -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\": 1765233716.197439,\n      \"lon\": -121.98991059576478,\n\
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  \     \"speed\": 1.7972397072717707,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.8978785333410735,\n      \"speed\": 1.7911725064595259,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.2374284,\n      \"lon\": -121.98991140821157,\n\
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  \     \"speed\": 1.783082905376532,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.2573864,\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\": 1765233716.2774148,\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\": 1765233716.2974486,\n      \"lon\": -121.98991262403081,\n\
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  \      \"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\": 1765233716.3376193,\n      \"lon\":\
  \ -121.98991341880725,\n      \"lat\": 37.37684865937147,\n      \"yaw_radians\"\
  : 2.866109015792832,\n      \"speed\": 1.7473538339266428,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233716.3573983,\n      \"lon\": -121.98991381691303,\n\
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  \      \"speed\": 1.7369047658611094,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.377396,\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\": 1765233716.397393,\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\": 1765233716.4173791,\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\": 1765233716.4375985,\n      \"lon\": -121.98991537100451,\n\
  \      \"lat\": 37.37684909424736,\n      \"yaw_radians\": 2.8389365322669136,\n\
  \      \"speed\": 1.7096023622060055,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"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\": 1765233716.4773836,\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\": 1765233716.4973676,\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\": 1765233716.5173724,\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\": 1765233716.5375485,\n      \"lon\": -121.9899172615143,\n\
  \      \"lat\": 37.37684956046019,\n      \"yaw_radians\": 2.811078299933458,\n\
  \      \"speed\": 1.6769068911622393,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.8054405948208396,\n      \"speed\": 1.6691543567910372,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.577312,\n      \"lon\": -121.98991800416668,\n\
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  \      \"speed\": 1.6644354228259572,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.5973537,\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\": 1765233716.6175504,\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\": 1765233716.6367698,\n      \"lon\": -121.98991911167019,\n\
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  \      \"speed\": 1.6519639544896754,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.6573627,\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\": 1765233716.6773696,\n      \"lon\": -121.98991983978506,\n\
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  \      \"speed\": 1.64589675367743,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.764951138322971,\n      \"speed\": 1.6435372866948905,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.7172923,\n      \"lon\": -121.989920568461,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.736529,\n\
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  yaw_radians\": 2.7532054655344194,\n      \"speed\": 1.6445484868302644,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.7572973,\n      \"lon\": -121.9899212723764,\n\
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  \      \"speed\": 1.6357847523236884,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.7772763,\n\
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  yaw_radians\": 2.740836257399976,\n      \"speed\": 1.635110618900105,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.7972965,\n      \"lon\": -121.9899219750903,\n\
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  \      \"lon\": -121.98992233649652,\n      \"lat\": 37.376851049425355,\n     \
  \ \"yaw_radians\": 2.7282740587748977,\n      \"speed\": 1.6246615508345712,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233716.836504,\n      \"lon\"\
  : -121.98992264427753,\n      \"lat\": 37.37685115727681,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233716.857279,\n      \"lon\": -121.98992302266981,\n\
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  yaw_radians\": 2.709955854815332,\n      \"speed\": 1.6172460831751605,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.8972661,\n      \"lon\": -121.98992370932527,\n\
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  yaw_radians\": 2.6970237776492856,\n      \"speed\": 1.615223682904412,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.9365432,\n      \"lon\": -121.98992436563867,\n\
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  yaw_radians\": 2.684625744031862,\n      \"speed\": 1.6128642159218722,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233716.9772503,\n      \"lon\": -121.98992507207738,\n\
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  \    \"speed\": 1.609156482092167,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.671758846589369,\n      \"speed\": 1.6074711485332098,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.017233,\n      \"lon\": -121.98992575271775,\n\
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  \      \"lon\": -121.98992604966185,\n      \"lat\": 37.376852406826096,\n     \
  \ \"yaw_radians\": 2.659293995149278,\n      \"speed\": 1.60511168155067,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233717.057247,\n      \"lon\": -121.98992640580275,\n\
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  \      \"lon\": -121.98992673547784,\n      \"lat\": 37.37685266873416,\n      \"\
  yaw_radians\": 2.6459126998873677,\n      \"speed\": 1.6007298142973818,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.0972583,\n      \"lon\": -121.98992706370876,\n\
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  \      \"speed\": 1.5939884800615536,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.1172194,\n\
  \      \"lon\": -121.98992740033472,\n      \"lat\": 37.376852958243255,\n     \
  \ \"yaw_radians\": 2.6326362177561196,\n      \"speed\": 1.594325546773345,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233717.1365755,\n      \"lon\":\
  \ -121.98992769088639,\n      \"lat\": 37.37685308778797,\n      \"yaw_radians\"\
  : 2.6267550666622577,\n      \"speed\": 1.5912919463672226,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.1572256,\n      \"lon\": -121.98992803428314,\n\
  \      \"lat\": 37.376853215081454,\n      \"yaw_radians\": 2.6198105403201235,\n\
  \      \"speed\": 1.5912919463672224,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.1771755,\n\
  \      \"lon\": -121.98992835471878,\n      \"lat\": 37.376853362262025,\n     \
  \ \"yaw_radians\": 2.6132321133791834,\n      \"speed\": 1.5865730124021429,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.1971998,\n      \"lon\"\
  : -121.98992867672635,\n      \"lat\": 37.37685351241904,\n      \"yaw_radians\"\
  : 2.606574809554225,\n      \"speed\": 1.5912919463672224,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.2171636,\n      \"lon\": -121.9899290052016,\n\
  \      \"lat\": 37.37685366794089,\n      \"yaw_radians\": 2.5997373883655963,\n\
  \      \"speed\": 1.5889324793846826,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"lon\": -121.98992929221869,\n      \"lat\": 37.376853805971656,\n     \
  \ \"yaw_radians\": 2.5937127723964086,\n      \"speed\": 1.5882583459611002,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.2572627,\n      \"lon\"\
  : -121.98992963326606,\n      \"lat\": 37.37685395900718,\n      \"yaw_radians\"\
  : 2.5859131948628407,\n      \"speed\": 1.587584212537517,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.277188,\n      \"lon\": -121.98992994379567,\n\
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  \      \"speed\": 1.5838764787078115,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.297189,\n\
  \      \"lon\": -121.98993025800412,\n      \"lat\": 37.37685427122722,\n      \"\
  yaw_radians\": 2.57257651323018,\n      \"speed\": 1.585224745554977,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.3180764,\n      \"lon\": -121.98993059179125,\n\
  \      \"lat\": 37.37685444178747,\n      \"yaw_radians\": 2.5653784618054307,\n\
  \      \"speed\": 1.5821911451488546,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.3370278,\n\
  \      \"lon\": -121.9899308642797,\n      \"lat\": 37.37685458325434,\n      \"\
  yaw_radians\": 2.559456501071306,\n      \"speed\": 1.5811799450134805,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.3572133,\n      \"lon\": -121.98993117973274,\n\
  \      \"lat\": 37.37685472289718,\n      \"yaw_radians\": 2.552304789458044,\n\
  \      \"speed\": 1.5767980777601922,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.377185,\n\
  \      \"lon\": -121.98993148390005,\n      \"lat\": 37.37685488535509,\n      \"\
  yaw_radians\": 2.54560793150801,\n      \"speed\": 1.5784834113191493,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.3971868,\n      \"lon\": -121.9899317746447,\n\
  \      \"lat\": 37.37685504290943,\n      \"yaw_radians\": 2.5391641993601257,\n\
  \      \"speed\": 1.573427410642278,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.416909,\n\
  \      \"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\": 1765233717.4369977,\n      \"lon\"\
  : -121.98993238664782,\n      \"lat\": 37.376855381620054,\n      \"yaw_radians\"\
  : 2.5254788159074106,\n      \"speed\": 1.5724162105069035,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.4572604,\n      \"lon\": -121.98993268194182,\n\
  \      \"lat\": 37.376855521434614,\n      \"yaw_radians\": 2.51844851842939,\n\
  \      \"speed\": 1.5707308769479469,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.477283,\n\
  \      \"lon\": -121.98993298119224,\n      \"lat\": 37.37685569325195,\n      \"\
  yaw_radians\": 2.511660715309584,\n      \"speed\": 1.5757868776248176,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.4973073,\n      \"lon\": -121.98993328231859,\n\
  \      \"lat\": 37.37685586863197,\n      \"yaw_radians\": 2.5047984729469612,\n\
  \      \"speed\": 1.574775677489444,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.5171201,\n\
  \      \"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\": 1765233717.5374556,\n      \"lon\"\
  : -121.98993386703219,\n      \"lat\": 37.37685621656119,\n      \"yaw_radians\"\
  : 2.491358395137269,\n      \"speed\": 1.576798077760192,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.5578191,\n      \"lon\": -121.98993416781384,\n\
  \      \"lat\": 37.37685639934407,\n      \"yaw_radians\": 2.4843864045076214,\n\
  \      \"speed\": 1.5781463446073576,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.5771286,\n\
  \      \"lon\": -121.98993444932158,\n      \"lat\": 37.37685657290167,\n      \"\
  yaw_radians\": 2.477826211547432,\n      \"speed\": 1.5784834113191493,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.5971904,\n      \"lon\": -121.98993474326114,\n\
  \      \"lat\": 37.37685675659412,\n      \"yaw_radians\": 2.4709430334936813,\n\
  \      \"speed\": 1.58117994501348,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.616926,\n\
  \      \"lon\": -121.98993498909164,\n      \"lat\": 37.37685685704492,\n      \"\
  yaw_radians\": 2.4655123699807158,\n      \"speed\": 1.5838764787078117,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.6371157,\n      \"lon\": -121.98993528005926,\n\
  \      \"lat\": 37.37685704354033,\n      \"yaw_radians\": 2.4586301183576844,\n\
  \      \"speed\": 1.5882583459611,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.6572468,\n\
  \      \"lon\": -121.98993558456492,\n      \"lat\": 37.37685724148336,\n      \"\
  yaw_radians\": 2.451389163981033,\n      \"speed\": 1.590280746231848,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.6772354,\n      \"lon\": -121.98993584526367,\n\
  \      \"lat\": 37.37685738538774,\n      \"yaw_radians\": 2.4447261678408263,\n\
  \      \"speed\": 1.5906178129436395,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.69728,\n\
  \      \"lon\": -121.9899361351122,\n      \"lat\": 37.376857579208924,\n      \"\
  yaw_radians\": 2.4377561183582803,\n      \"speed\": 1.5943255467733448,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.7168934,\n      \"lon\": -121.98993640627847,\n\
  \      \"lat\": 37.376857763120555,\n      \"yaw_radians\": 2.431196941161898,\n\
  \      \"speed\": 1.5966850137558848,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.7370613,\n\
  \      \"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\": 1765233717.7572913,\n      \"lon\"\
  : -121.98993696150394,\n      \"lat\": 37.376858118240044,\n      \"yaw_radians\"\
  : 2.4172009636901532,\n      \"speed\": 1.5997186141620074,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.7773242,\n      \"lon\": -121.98993724029017,\n\
  \      \"lat\": 37.3768583153354,\n      \"yaw_radians\": 2.410336069919261,\n \
  \     \"speed\": 1.6020780811445476,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.7973628,\n\
  \      \"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\": 1765233717.8167756,\n      \"lon\":\
  \ -121.98993778610046,\n      \"lat\": 37.376858709256254,\n      \"yaw_radians\"\
  : 2.3967772370930724,\n      \"speed\": 1.6078082152450013,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233717.8369446,\n      \"lon\": -121.98993806348253,\n\
  \      \"lat\": 37.37685891357795,\n      \"yaw_radians\": 2.3898269133410865,\n\
  \      \"speed\": 1.6088194153803757,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.857472,\n\
  \      \"lon\": -121.98993832965073,\n      \"lat\": 37.37685908248687,\n      \"\
  yaw_radians\": 2.382590953496514,\n      \"speed\": 1.609156482092167,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.8775654,\n      \"lon\": -121.98993860253647,\n\
  \      \"lat\": 37.37685928929724,\n      \"yaw_radians\": 2.3756691371139373,\n\
  \      \"speed\": 1.610841815651124,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.8966558,\n\
  \      \"lon\": -121.9899388692516,\n      \"lat\": 37.376859494250944,\n      \"\
  yaw_radians\": 2.3688636334714976,\n      \"speed\": 1.6111788823629156,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.9171388,\n      \"lon\": -121.98993913457454,\n\
  \      \"lat\": 37.37685970093156,\n      \"yaw_radians\": 2.3620538557582154,\n\
  \      \"speed\": 1.6121900824982895,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.9369094,\n\
  \      \"lon\": -121.98993939428449,\n      \"lat\": 37.37685990602182,\n      \"\
  yaw_radians\": 2.3553461287912487,\n      \"speed\": 1.6138754160572466,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233717.9570131,\n      \"lon\": -121.98993964615877,\n\
  \      \"lat\": 37.376860079846544,\n      \"yaw_radians\": 2.3480325950052388,\n\
  \      \"speed\": 1.6138754160572468,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233717.9770145,\n\
  \      \"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\": 1765233717.9970527,\n      \"lon\": -121.98994016928391,\n\
  \      \"lat\": 37.3768605076251,\n      \"yaw_radians\": 2.3343161948500257,\n\
  \      \"speed\": 1.617583149886952,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.0172052,\n\
  \      \"lon\": -121.98994044152,\n      \"lat\": 37.37686073487462,\n      \"yaw_radians\"\
  : 2.3271166449594474,\n      \"speed\": 1.6206167502930744,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233718.0369718,\n      \"lon\": -121.98994069438668,\n\
  \      \"lat\": 37.37686094901854,\n      \"yaw_radians\": 2.320394281837815,\n\
  \      \"speed\": 1.6263468843935285,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.0570536,\n\
  \      \"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\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233718.0770118,\n      \"lon\":\
  \ -121.98994118910463,\n      \"lat\": 37.37686134874484,\n      \"yaw_radians\"\
  : 2.3063374654894315,\n      \"speed\": 1.6303916849350257,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233718.0969884,\n      \"lon\": -121.98994144185987,\n\
  \      \"lat\": 37.37686157191733,\n      \"yaw_radians\": 2.299520883144821,\n\
  \      \"speed\": 1.6300546182232338,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.1172988,\n\
  \      \"lon\": -121.98994170312766,\n      \"lat\": 37.376861805800104,\n     \
  \ \"yaw_radians\": 2.2924456005267277,\n      \"speed\": 1.6320770184939823,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.136493,\n      \"lon\"\
  : -121.98994194052027,\n      \"lat\": 37.37686202136855,\n      \"yaw_radians\"\
  : 2.285992954047437,\n      \"speed\": 1.6364588857472706,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233718.1569977,\n      \"lon\": -121.98994217295419,\n\
  \      \"lat\": 37.376862210464374,\n      \"yaw_radians\": 2.278578129899923,\n\
  \      \"speed\": 1.637470085882645,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.1761992,\n\
  \      \"lon\": -121.98994241167338,\n      \"lat\": 37.37686243340261,\n      \"\
  yaw_radians\": 2.272047681528966,\n      \"speed\": 1.6418519531359335,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.1969755,\n      \"lon\": -121.98994266445601,\n\
  \      \"lat\": 37.3768626726279,\n      \"yaw_radians\": 2.2651165662532664,\n\
  \      \"speed\": 1.6462338203892215,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.2171648,\n\
  \      \"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\": 1765233718.237002,\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\": 1765233718.2562153,\n      \"lon\": -121.98994337333238,\n\
  \      \"lat\": 37.376863338863636,\n      \"yaw_radians\": 2.244315157832567,\n\
  \      \"speed\": 1.6563458217429639,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.2769938,\n\
  \      \"lon\": -121.98994360506755,\n      \"lat\": 37.376863570947,\n      \"\
  yaw_radians\": 2.237911400373503,\n      \"speed\": 1.6630871559787916,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.2962542,\n      \"lon\": -121.98994384287187,\n\
  \      \"lat\": 37.37686381228352,\n      \"yaw_radians\": 2.2313096648374593,\n\
  \      \"speed\": 1.66510955624954,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.3163068,\n\
  \      \"lon\": -121.98994408526849,\n      \"lat\": 37.37686406164928,\n      \"\
  yaw_radians\": 2.2245761573307075,\n      \"speed\": 1.6664578230967058,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.3369856,\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\": 1765233718.357017,\n\
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  yaw_radians\": 2.210835090413429,\n      \"speed\": 1.6752215576032823,\n      \"\
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  \n    },\n    {\n      \"timestamp\": 1765233718.3771603,\n      \"lon\": -121.9899447767618,\n\
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  yaw_radians\": 2.197594826316488,\n      \"speed\": 1.679940491568362,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \      \"lat\": 37.37686524985051,\n      \"yaw_radians\": 2.1916329769254923,\n\
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  yaw_radians\": 2.1848974034547903,\n      \"speed\": 1.6880300926513554,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.4569745,\n      \"lon\": -121.9899456511796,\n\
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  \      \"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\": \"\
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  \ -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\": 1765233718.5165303,\n      \"lon\": -121.98994631568472,\n\
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  yaw_radians\": 2.1525971122507057,\n      \"speed\": 1.7035351613937604,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 2.139183290308499,\n      \"speed\": 1.7089282287824228,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233718.5969715,\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\": 1765233718.6161587,\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\": 1765233718.636365,\n      \"lon\": -121.98994759031267,\n\
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  \      \"speed\": 1.7210626304069132,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"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\": 1765233718.6762013,\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\": 1765233718.6963685,\n      \"lon\": -121.98994818192416,\n\
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  \      \"speed\": 1.7291522314899068,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.7161095,\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\": 1765233718.7363696,\n      \"lon\": -121.98994857362155,\n\
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  \      \"speed\": 1.7355564990139438,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233718.7570398,\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\": 1765233718.7762384,\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\": 1765233718.7964456,\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\": 1765233718.8164096,\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\": 1765233718.8370245,\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\": 1765233718.8562512,\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\": 1765233718.876433,\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\": 1765233718.8962746,\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\": 1765233718.9164877,\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\": 1765233718.936153,\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\": 1765233718.9564743,\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\": 1765233718.9764428,\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\": 1765233718.9964485,\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\": 1765233719.016205,\n      \"lon\": -121.98995109640707,\n\
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  \      \"speed\": 1.7642071695162131,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"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\": 1765233719.0565386,\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\": 1765233719.0765812,\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\": 1765233719.096604,\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\": 1765233719.1162617,\n      \"lon\": -121.98995189827569,\n\
  \      \"lat\": 37.376874690263904,\n      \"yaw_radians\": 1.9695801229958703,\n\
  \      \"speed\": 1.780723438393992,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.1361244,\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\": 1765233719.1566982,\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\": 1765233719.1767366,\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\": 1765233719.1967885,\n      \"lon\": -121.98995250537239,\n\
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  \      \"speed\": 1.796565573848188,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"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\": 1765233719.236267,\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\": 1765233719.2568934,\n      \"lon\": -121.98995292515141,\n\
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  \      \"lon\": -121.98995307200045,\n      \"lat\": 37.376877042286985,\n     \
  \ \"yaw_radians\": 1.9225650212265462,\n      \"speed\": 1.8100482423198443,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.2970247,\n      \"lon\"\
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  : 1.9168669627095984,\n      \"speed\": 1.8147671762849242,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233719.3164954,\n      \"lon\": -121.98995335800096,\n\
  \      \"lat\": 37.37687767092517,\n      \"yaw_radians\": 1.9116838677327606,\n\
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  \      \"lon\": -121.98995349269408,\n      \"lat\": 37.376877974684206,\n     \
  \ \"yaw_radians\": 1.9065138578446499,\n      \"speed\": 1.8228567773679172,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.3570664,\n      \"lon\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233719.3771157,\n      \"lon\": -121.98995375017076,\n\
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  yaw_radians\": 1.8894451841521138,\n      \"speed\": 1.831620511874494,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233719.4163716,\n      \"lon\": -121.98995401686388,\n\
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  \      \"lon\": -121.98995413907575,\n      \"lat\": 37.376879506761895,\n     \
  \ \"yaw_radians\": 1.8792741283417762,\n      \"speed\": 1.8370135792631563,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.4562666,\n      \"lon\"\
  : -121.98995424727262,\n      \"lat\": 37.37687976958667,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233719.476326,\n      \"lon\": -121.98995438173088,\n\
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  \      \"lon\": -121.98995449971329,\n      \"lat\": 37.376880422993764,\n     \
  \ \"yaw_radians\": 1.8628527933661618,\n      \"speed\": 1.843080780075402,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233719.5168574,\n      \"lon\":\
  \ -121.98995462947751,\n      \"lat\": 37.376880768353914,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1765233719.5361743,\n      \"lon\": -121.9899547450394,\n\
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  \      \"lon\": -121.98995486707922,\n      \"lat\": 37.376881419376936,\n     \
  \ \"yaw_radians\": 1.8474269872112872,\n      \"speed\": 1.8602711823767635,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233719.5765047,\n      \"lon\"\
  : -121.98995496339502,\n      \"lat\": 37.376881675188855,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233719.596547,\n      \"lon\": -121.98995507646652,\n\
  \      \"lat\": 37.37688200075751,\n      \"yaw_radians\": 1.8369864011615744,\n\
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  yaw_radians\": 1.7293163460306453,\n      \"speed\": 1.985997065874958,\n      \"\
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  yaw_radians\": 1.7182265450693506,\n      \"speed\": 1.997120267364074,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 1.70768568451741,\n      \"speed\": 2.003861601599902,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 1.697285520456108,\n      \"speed\": 2.0159960032243927,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  : 1.6912361131865026,\n      \"speed\": 2.0274562714253004,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233720.1765177,\n      \"lon\": -121.98995748763669,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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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\": 1765233720.2565057,\n      \"lon\"\
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  : 1.6631544426314708,\n      \"speed\": 2.0523992080978646,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233720.2765272,\n      \"lon\": -121.9899577150323,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.3162885,\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\": 1765233720.3564928,\n      \"lon\": -121.98995785380724,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233720.3765275,\n\
  \      \"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\": \"\
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  \ -121.98995791263111,\n      \"lat\": 37.37689588125096,\n      \"yaw_radians\"\
  : 1.623113390650626,\n      \"speed\": 2.07531974449968,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233720.416376,\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\": 1765233720.4564683,\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\": \"\
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  \ -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\": 1765233720.5163548,\n      \"lon\": -121.9899580181521,\n\
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  yaw_radians\": 1.5822293652238177,\n      \"speed\": 2.101948014731201,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.5564592,\n      \"lon\": -121.98995803148117,\n\
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  yaw_radians\": 1.5698059916791318,\n      \"speed\": 2.103633348290158,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.5964506,\n      \"lon\": -121.98995803227422,\n\
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  yaw_radians\": 1.5578777932866414,\n      \"speed\": 2.113408282932109,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.6365576,\n      \"lon\": -121.989958022067,\n\
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  yaw_radians\": 1.5457901722725538,\n      \"speed\": 2.110374682525986,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.6764457,\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\": 1765233720.7163546,\n      \"lon\"\
  : -121.98995797126166,\n      \"lat\": 37.37690186514988,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1765233720.7356403,\n      \"lon\": -121.98995795032738,\n\
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  yaw_radians\": 1.5160694772021388,\n      \"speed\": 2.1070040154080716,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233720.77638,\n      \"lon\": -121.9899579057389,\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\": 1765233720.8163624,\n      \"lon\": -121.98995784118544,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233720.8357322,\n\
  \      \"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\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233720.8563826,\n      \"lon\":\
  \ -121.98995777410808,\n      \"lat\": 37.37690444431586,\n      \"yaw_radians\"\
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  \ \"yaw_radians\": 1.4616958075691997,\n      \"speed\": 2.0719490773817655,\n \
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  \ \"yaw_radians\": 1.442724608750888,\n      \"speed\": 2.0581293421983182,\n  \
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  \ \"yaw_radians\": 1.3466669654859196,\n      \"speed\": 1.9324034587001244,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 1.2927612678891056,\n      \"speed\": 1.8777986513899165,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 1.25890252778701,\n      \"speed\": 1.8724055840012543,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 1.2461730408674414,\n      \"speed\": 1.8734167841366285,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  yaw_radians\": 1.2258914661798999,\n      \"speed\": 1.8801581183724565,\n     \
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  \ \"yaw_radians\": 1.2135706923726735,\n      \"speed\": 1.8973485206738179,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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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\": 0.9920188060015283,\n      \"speed\": 1.8036439747958075,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 0.9564555571860403,\n      \"speed\": 1.806003441778347,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 0.9352277758984081,\n      \"speed\": 1.8349911789924083,\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\": 1765233722.5556695,\n      \"lon\": -121.98994520755964,\n\
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  yaw_radians\": 0.8873835914000678,\n      \"speed\": 1.907123455315769,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233722.5960193,\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\"\
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  yaw_radians\": 0.8546038190624345,\n      \"speed\": 1.946223193883572,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 0.8392805900006608,\n      \"speed\": 1.967795463438222,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233722.7362459,\n      \"lon\": -121.98994256092203,\n\
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  \ \"yaw_radians\": 0.8162710087167544,\n      \"speed\": 1.9886935995692887,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1765233722.7952232,\n      \"lon\": -121.98994167517348,\n\
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  \      \"speed\": 1.988693599569289,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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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\": 1765233722.8361607,\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\": 1765233722.8753972,\n      \"lon\": -121.98994041577214,\n\
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  \ \"yaw_radians\": 0.758290439008578,\n      \"speed\": 1.966447196591056,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98993976702461,\n      \"lat\": 37.37693568656365,\n      \"yaw_radians\"\
  : 0.750437750419308,\n      \"speed\": 1.969480796997179,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233722.936127,\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\": 1765233722.9752476,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233722.9956837,\n      \"lon\": -121.98993850166991,\n\
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  yaw_radians\": 0.7118293559714832,\n      \"speed\": 1.9984685342112394,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233723.036082,\n      \"lon\": -121.98993777802879,\n\
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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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  \ -121.98993718117211,\n      \"lat\": 37.37693755323775,\n      \"yaw_radians\"\
  : 0.6883086621279634,\n      \"speed\": 2.036557072643668,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233723.0951355,\n      \"lon\": -121.98993681213659,\n\
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  yaw_radians\": 0.6726272881719574,\n      \"speed\": 2.0615000093162323,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233723.136002,\n      \"lon\": -121.98993604925556,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233723.1759005,\n      \"lon\": -121.98993538895206,\n\
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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\": 0.6239359888508595,\n      \"speed\": 2.1302616185216787,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233723.2562103,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233723.2757378,\n      \"lon\": -121.98993353432226,\n\
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  \ \"yaw_radians\": 0.600766252255983,\n      \"speed\": 2.1629570895654453,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1765233723.3153338,\n      \"lon\":\
  \ -121.98993271336252,\n      \"lat\": 37.37694029622159,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1765233723.3361938,\n      \"lon\": -121.98993227189214,\n\
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  \      \"lon\": -121.98993183503593,\n      \"lat\": 37.376940763158984,\n     \
  \ \"yaw_radians\": 0.5755996240482709,\n      \"speed\": 2.2121688294869903,\n \
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  \ \"yaw_radians\": 0.5351835243563661,\n      \"speed\": 2.286997639504682,\n  \
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  \ \"yaw_radians\": 0.4944064832163865,\n      \"speed\": 2.355085115286546,\n  \
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  \ \"yaw_radians\": 0.4699025358016875,\n      \"speed\": 2.404296855208091,\n  \
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  \ \"yaw_radians\": 0.43638060728069933,\n      \"speed\": 2.470698997430998,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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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\": 0.32504766449715766,\n      \"speed\": 2.632153952379081,\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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  \   {\n      \"timestamp\": 1765233724.155799,\n      \"lon\": -121.98991182177235,\n\
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  \ \"yaw_radians\": 0.22772841369814312,\n      \"speed\": 2.829675045488844,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 0.19719628721722288,\n      \"speed\": 2.8957401209999594,\n\
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  \ \"yaw_radians\": 0.13995313217378869,\n      \"speed\": 3.0494425415768394,\n\
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  : \"lane\"\n    },\n    {\n      \"timestamp\": 1765233724.595408,\n      \"lon\"\
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  \ \"yaw_radians\": 0.04487417932929832,\n      \"speed\": 3.5183023376786844,\n\
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  \ \"yaw_radians\": 0.03682304550251896,\n      \"speed\": 3.6086362164387804,\n\
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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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  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -0.012296879670413065,\n      \"speed\": 4.364339784275109,\n\
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  \ \"yaw_radians\": 0.0083308070423286,\n      \"speed\": 4.0926640145712385,\n \
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.0204109053978945,\n      \"speed\": 1.988693599569289,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.0443139154752297,\n      \"speed\": 2.0085805355649815,\n\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233741.651305,\n      \"lon\": -121.98923912938663,\n\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.161952618812535,\n      \"speed\": 2.0864429459887965,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1765233741.85146,\n      \"lon\": -121.98923728506458,\n\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233741.9516094,\n      \"lon\": -121.98923648190544,\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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  \   {\n      \"timestamp\": 1765233742.5313294,\n      \"lon\": -121.98923318639577,\n\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1765233742.5914898,\n      \"lon\": -121.98923296107557,\n\
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  yaw_radians\": -1.446170965661143,\n      \"speed\": 2.3672195169110366,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233742.6315098,\n      \"lon\": -121.98923282802676,\n\
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  \ \"yaw_radians\": -1.4540969299344537,\n      \"speed\": 2.3823875189416497,\n\
  \      \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\"\
  : \"lane\"\n    },\n    {\n      \"timestamp\": 1765233742.671509,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233742.6917307,\n      \"lon\": -121.98923263352073,\n\
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  \ \"yaw_radians\": -1.4650867786069497,\n      \"speed\": 2.404970988631674,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1765233742.731293,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233744.7118008,\n      \"lon\": -121.98923155077397,\n\
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  yaw_radians\": -1.577182129313284,\n      \"speed\": 2.962816396646449,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233744.7518115,\n      \"lon\": -121.98923162567107,\n\
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  yaw_radians\": -1.572487331131607,\n      \"speed\": 2.958434529393161,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233744.7916448,\n      \"lon\": -121.98923162882697,\n\
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  yaw_radians\": -1.572253867628889,\n      \"speed\": 2.9597827962403267,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1765233744.8312542,\n      \"lon\": -121.989231631694,\n\
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  \ \"yaw_radians\": -1.5736304359576114,\n      \"speed\": 2.9621422632228667,\n\
  \      \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\"\
  : \"lane\"\n    },\n    {\n      \"timestamp\": 1765233744.87215,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1765233744.8918738,\n      \"lon\": -121.9892316366725,\n\
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  yaw_radians\": -1.57329007598725,\n      \"speed\": 2.958434529393161,\n      \"\
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  \n    },\n    {\n      \"timestamp\": 1765233744.9318569,\n      \"lon\": -121.98923164095213,\n\
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  \     \"speed\": 2.958434529393161,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": -1.5729920437428802,\n      \"speed\": 2.960793996375701,\n     \
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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\": \"lane\"\
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  \ \"yaw_radians\": -1.5643352572605032,\n      \"speed\": 2.5495726079901866,\n\
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  \ \"yaw_radians\": -1.5624880320674608,\n      \"speed\": 2.4565421955357594,\n\
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  \   {\n      \"timestamp\": 1765233748.5092382,\n      \"lon\": -121.9892309057662,\n\
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  \   {\n      \"timestamp\": 1765233748.5500271,\n      \"lon\": -121.98923090125429,\n\
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  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233748.589465,\n      \"lon\": -121.98923090125429,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.6100895,\n\
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  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233748.6293876,\n      \"lon\": -121.98923090125429,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.649697,\n\
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  \   {\n      \"timestamp\": 1765233748.6697264,\n      \"lon\": -121.98923089721256,\n\
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  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.6894097,\n\
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  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233748.7092574,\n      \"lon\": -121.98923089721256,\n\
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  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.7301273,\n\
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  \   {\n      \"timestamp\": 1765233748.749499,\n      \"lon\": -121.98923089328316,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.769684,\n\
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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\": 1765233748.809143,\n\
  \      \"lon\": -121.98923089328316,\n      \"lat\": 37.37679016793096,\n      \"\
  yaw_radians\": -1.558052048022408,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.8493388,\n\
  \      \"lon\": -121.98923089014683,\n      \"lat\": 37.376790147388846,\n     \
  \ \"yaw_radians\": -1.557557709321129,\n      \"speed\": 0,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233748.869823,\n      \"lon\": -121.98923089014683,\n\
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  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.8895147,\n\
  \      \"lon\": -121.98923089014683,\n      \"lat\": 37.376790147388846,\n     \
  \ \"yaw_radians\": -1.557557709321129,\n      \"speed\": 0,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1765233748.9091842,\n      \"lon\": -121.98923089014683,\n\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233748.9497902,\n      \"lon\": -121.98923088821616,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233748.9698975,\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\": 1765233748.9900823,\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\": 1765233749.009167,\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\": 1765233749.02916,\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\": 1765233749.049487,\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\": 1765233749.069224,\n      \"lon\": -121.98923088696488,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.0892234,\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\": 1765233749.1292367,\n\
  \      \"lon\": -121.98923088696488,\n      \"lat\": 37.37679010972633,\n      \"\
  yaw_radians\": -1.556673065328644,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.1692743,\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\": 1765233749.1893137,\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\": 1765233749.209436,\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\": 1765233749.229327,\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\": 1765233749.2493193,\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\": 1765233749.2693548,\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\": 1765233749.2893748,\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\": 1765233749.3094442,\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\": 1765233749.3295238,\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\": 1765233749.3499699,\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\": 1765233749.36953,\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\": 1765233749.389581,\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\": 1765233749.4095633,\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\": 1765233749.4296048,\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\": 1765233749.4496453,\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\": 1765233749.469751,\n      \"lon\": -121.98923088637932,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.4896724,\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\": 1765233749.5097094,\n      \"lon\": -121.98923088637932,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.5296774,\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\": 1765233749.5497344,\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\": 1765233749.569689,\n\
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  \ \"yaw_radians\": -1.5547810518336243,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233749.5897713,\n      \"lon\": -121.98923088735873,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.6099334,\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\": 1765233749.6297486,\n      \"lon\": -121.98923088735873,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.6496928,\n\
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  yaw_radians\": -1.5544445930394197,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233749.6700704,\n      \"lon\": -121.98923088847877,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.689821,\n\
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  yaw_radians\": -1.5544445930394197,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233749.7096624,\n      \"lon\": -121.98923088847877,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233749.8096623,\n\
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  yaw_radians\": -1.5544445930394197,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1765233749.9096625,\n      \"lon\": -121.98923361990292,\n\
  \      \"lat\": 37.37676928624073,\n      \"yaw_radians\": -1.5544445930394197,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"driving_segment_parking_lot\",\n \
  \     \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1765233750.0096624,\n\
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  yaw_radians\": -1.5294204095802684,\n      \"speed\": 0.011401754250991379,\n  \
  \    \"segment_id\": \"parking_segment_a2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1765233750.1071897,\n      \"lon\": -121.98923500350874,\n\
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  \n    },\n    {\n      \"timestamp\": 1765233750.3133788,\n      \"lon\": -121.98923497388253,\n\
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  segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1765233782.8096688,\n\
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  yaw_radians\": 1.5586539262762678,\n      \"speed\": 0.016155494421403512,\n   \
  \   \"segment_id\": \"parking_segment_a2\",\n      \"segment_type\": \"parking_entrance\"\
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  \      \"lat\": 37.37675122643698,\n      \"yaw_radians\": 1.5586539262762678,\n\
  \      \"speed\": 0.007071067811865475,\n      \"segment_id\": \"parking_segment_a2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1765233783.0108223,\n      \"lon\": -121.98961568273978,\n      \"lat\": 37.37675124425812,\n\
  \      \"yaw_radians\": 1.5586539262762678,\n      \"speed\": 0.013152946437965905,\n\
  \      \"segment_id\": \"parking_segment_a2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1765233783.1090956,\n      \"lon\": -121.9896156769628,\n\
  \      \"lat\": 37.37675124523773,\n      \"yaw_radians\": 1.5586539262762678,\n\
  \      \"speed\": 0.03257299494980466,\n      \"segment_id\": \"parking_segment_a2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1765233783.2101798,\n      \"lon\": -121.98961568577963,\n      \"lat\": 37.37675123246457,\n\
  \      \"yaw_radians\": 1.5586539262762678,\n      \"speed\": 0.015231546211727818,\n\
  \      \"segment_id\": \"parking_segment_a2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1765233783.3106358,\n      \"lon\": -121.98961569655123,\n\
  \      \"lat\": 37.37675123599479,\n      \"yaw_radians\": 1.5586539262762678,\n\
  \      \"speed\": 0.011401754250991379,\n      \"segment_id\": \"parking_segment_a2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1765233783.40808,\n      \"lon\": -121.9896157153207,\n      \"lat\": 37.37675122133937,\n\
  \      \"yaw_radians\": 1.5586539262762678,\n      \"speed\": 0.01131370849898476,\n\
  \      \"segment_id\": \"parking_segment_a2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    }\n  ]\n}"
run_id: 77a94154-f633-11f0-ae62-48b02d7ddada
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\
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  : -121.98855865880043\n        },\n        {\n          \"lat\": 37.377271344035954,\n\
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  : 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\"\
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  \    {\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:
        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
      image_rect_gray:
        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
    left_raw:
      image_raw_color:
        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
      image_raw_gray:
        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
    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:
      - 0.0
      - 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:
      image_rect_color:
        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
      image_rect_gray:
        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
    rgb_raw:
      image_raw_color:
        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
      image_raw_gray:
        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
    right:
      image_rect_color:
        compressed:
          format: jpeg
          jpeg_optimize: false
          jpeg_progressive: false
          jpeg_quality: 80
          jpeg_restart_interval: 0
          png_level: 9
        compressedDepth:
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          depth_quantization: 100.0
          format: png
          png_level: 1
        theora:
          keyframe_frequency: 64
          optimize_for: 1
          quality: 31
          target_bitrate: 800000
      image_rect_gray:
        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
    right_raw:
      image_raw_color:
        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
      image_raw_gray:
        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
    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
          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
    stereo_raw:
      image_raw_color:
        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
    stream: ''
    svo_file: ''
    whitebalance_temperature: 0
