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__32803: http://sierra.mist-halibut.ts.net:32803/
    host_sierra_mist_halibut_ts_net__33473: http://sierra.mist-halibut.ts.net:33473/
    host_sierra_mist_halibut_ts_net__34387: http://sierra.mist-halibut.ts.net:34387/
    host_sierra_mist_halibut_ts_net__34779: http://sierra.mist-halibut.ts.net:34779/
    host_sierra_mist_halibut_ts_net__36261: http://sierra.mist-halibut.ts.net:36261/
    host_sierra_mist_halibut_ts_net__38807: http://sierra.mist-halibut.ts.net:38807/
    host_sierra_mist_halibut_ts_net__38863: http://sierra.mist-halibut.ts.net:38863/
    host_sierra_mist_halibut_ts_net__39435: http://sierra.mist-halibut.ts.net:39435/
    host_sierra_mist_halibut_ts_net__39511: http://sierra.mist-halibut.ts.net:39511/
    host_sierra_mist_halibut_ts_net__39965: http://sierra.mist-halibut.ts.net:39965/
    host_sierra_mist_halibut_ts_net__40067: http://sierra.mist-halibut.ts.net:40067/
    host_sierra_mist_halibut_ts_net__40295: http://sierra.mist-halibut.ts.net:40295/
    host_sierra_mist_halibut_ts_net__41037: http://sierra.mist-halibut.ts.net:41037/
    host_sierra_mist_halibut_ts_net__41237: http://sierra.mist-halibut.ts.net:41237/
    host_sierra_mist_halibut_ts_net__44457: http://sierra.mist-halibut.ts.net:44457/
    host_sierra_mist_halibut_ts_net__46061: http://sierra.mist-halibut.ts.net:46061/
    host_sierra_mist_halibut_ts_net__46639: http://sierra.mist-halibut.ts.net:46639/
rosversion: '1.17.0

  '
route_data_file: /var/tmp/route_data.json
route_data_json: "{\n  \"start_point\": {\n    \"lon\": -121.9895890176093,\n    \"\
  lat\": 37.376773358271656,\n    \"yaw\": 1.5388850863661339\n  },\n  \"start_junction\"\
  : {\n    \"_id\": \"69024ceb849867189cce87b9\",\n    \"site_id\": \"natcsv\",\n\
  \    \"type\": \"start\",\n    \"lat\": 37.376717886700206,\n    \"lon\": -121.98958779348474,\n\
  \    \"id\": \"parking_lot_bay_b_start\"\n  },\n  \"end_junction\": {\n    \"_id\"\
  : \"69024ceb849867189cce87bd\",\n    \"site_id\": \"natcsv\",\n    \"type\": \"\
  end\",\n    \"lat\": 37.37673156116998,\n    \"lon\": -121.98958716912215,\n   \
  \ \"id\": \"parking_lot_bay_b2_end\"\n  },\n  \"path_summary\": [\n    \"parking_lot_bay_b_start\"\
  ,\n    \"departure_segment_b\",\n    \"parking_lot_bays_exit\",\n    \"driving_segment_parking_lot\"\
  ,\n    \"parking_lot_bays_entrance\",\n    \"parking_segment_b2\",\n    \"parking_lot_bay_b2_end\"\
  \n  ],\n  \"decision_points\": [],\n  \"traj\": [\n    {\n      \"timestamp\": 1765233679.1845012,\n\
  \      \"lon\": -121.98959062102136,\n      \"lat\": 37.376740273241325,\n     \
  \ \"yaw_radians\": 1.4977055894851934,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.2044618,\n      \"lon\": -121.98959062102136,\n\
  \      \"lat\": 37.376740273241325,\n      \"yaw_radians\": 1.4977055894851934,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.2244842,\n  \
  \    \"lon\": -121.98959062102136,\n      \"lat\": 37.376740273241325,\n      \"\
  yaw_radians\": 1.4977055894851934,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.244474,\n      \"lon\": -121.98959062102136,\n\
  \      \"lat\": 37.376740273241325,\n      \"yaw_radians\": 1.4977055894851934,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.2644997,\n  \
  \    \"lon\": -121.98959062102136,\n      \"lat\": 37.376740273241325,\n      \"\
  yaw_radians\": 1.4977055894851934,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.2854185,\n      \"lon\": -121.98959062119498,\n\
  \      \"lat\": 37.37674027317168,\n      \"yaw_radians\": 1.4976974359577588,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.3054214,\n  \
  \    \"lon\": -121.98959062119498,\n      \"lat\": 37.37674027317168,\n      \"\
  yaw_radians\": 1.4976974359577588,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.3244338,\n      \"lon\": -121.98959062119498,\n\
  \      \"lat\": 37.37674027317168,\n      \"yaw_radians\": 1.4976974359577588,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.3454163,\n  \
  \    \"lon\": -121.98959062119498,\n      \"lat\": 37.37674027317168,\n      \"\
  yaw_radians\": 1.4976974359577588,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.3654282,\n      \"lon\": -121.9895906213694,\n\
  \      \"lat\": 37.37674027310213,\n      \"yaw_radians\": 1.4976892917984628,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.3853972,\n  \
  \    \"lon\": -121.9895906213694,\n      \"lat\": 37.37674027310213,\n      \"yaw_radians\"\
  : 1.4976892917984628,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.405392,\n      \"lon\": -121.9895906213694,\n      \"lat\": 37.37674027310213,\n\
  \      \"yaw_radians\": 1.4976892917984628,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.4244149,\n      \"lon\": -121.9895906213694,\n\
  \      \"lat\": 37.37674027310213,\n      \"yaw_radians\": 1.4976892917984628,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.444416,\n   \
  \   \"lon\": -121.9895906213694,\n      \"lat\": 37.37674027310213,\n      \"yaw_radians\"\
  : 1.4976892917984628,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.4654074,\n      \"lon\": -121.98959062154115,\n      \"lat\": 37.37674027303555,\n\
  \      \"yaw_radians\": 1.4976811489076474,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.4853725,\n      \"lon\": -121.98959062154115,\n\
  \      \"lat\": 37.37674027303555,\n      \"yaw_radians\": 1.4976811489076474,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.5053697,\n  \
  \    \"lon\": -121.98959062154115,\n      \"lat\": 37.37674027303555,\n      \"\
  yaw_radians\": 1.4976811489076474,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.5253563,\n      \"lon\": -121.98959062154115,\n\
  \      \"lat\": 37.37674027303555,\n      \"yaw_radians\": 1.4976811489076474,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.5453835,\n  \
  \    \"lon\": -121.98959062154115,\n      \"lat\": 37.37674027303555,\n      \"\
  yaw_radians\": 1.4976811489076474,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.5653074,\n      \"lon\": -121.98959062171507,\n\
  \      \"lat\": 37.37674027296975,\n      \"yaw_radians\": 1.4976730209009084,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.5843005,\n  \
  \    \"lon\": -121.98959062171507,\n      \"lat\": 37.37674027296975,\n      \"\
  yaw_radians\": 1.4976730209009084,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.6052985,\n      \"lon\": -121.98959062171507,\n\
  \      \"lat\": 37.37674027296975,\n      \"yaw_radians\": 1.4976730209009084,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.625308,\n   \
  \   \"lon\": -121.98959062171507,\n      \"lat\": 37.37674027296975,\n      \"yaw_radians\"\
  : 1.4976730209009084,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.6452699,\n      \"lon\": -121.98959062171507,\n      \"lat\": 37.37674027296975,\n\
  \      \"yaw_radians\": 1.4976730209009084,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.664794,\n      \"lon\": -121.98959062171507,\n\
  \      \"lat\": 37.37674027296975,\n      \"yaw_radians\": 1.4976730209009084,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.6842577,\n  \
  \    \"lon\": -121.98959062188236,\n      \"lat\": 37.37674027291863,\n      \"\
  yaw_radians\": 1.4976648973128153,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.7052693,\n      \"lon\": -121.98959062188236,\n\
  \      \"lat\": 37.37674027291863,\n      \"yaw_radians\": 1.4976648973128153,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.7242856,\n  \
  \    \"lon\": -121.98959062188236,\n      \"lat\": 37.37674027291863,\n      \"\
  yaw_radians\": 1.4976648973128153,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.7448227,\n      \"lon\": -121.98959062188236,\n\
  \      \"lat\": 37.37674027291863,\n      \"yaw_radians\": 1.4976648973128153,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.7652307,\n  \
  \    \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n      \"yaw_radians\"\
  : 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.7852008,\n      \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n\
  \      \"yaw_radians\": 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.805208,\n      \"lon\": -121.9895906220506,\n\
  \      \"lat\": 37.3767402729036,\n      \"yaw_radians\": 1.4976568346445283,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.8251922,\n  \
  \    \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n      \"yaw_radians\"\
  : 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.8451746,\n      \"lon\": -121.9895906220506,\n      \"lat\": 37.3767402729036,\n\
  \      \"yaw_radians\": 1.4976568346445283,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n \
  \   {\n      \"timestamp\": 1765233679.865186,\n      \"lon\": -121.9895906222118,\n\
  \      \"lat\": 37.376740272960845,\n      \"yaw_radians\": 1.4976488570385083,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.8851798,\n  \
  \    \"lon\": -121.9895906222118,\n      \"lat\": 37.376740272960845,\n      \"\
  yaw_radians\": 1.4976488570385083,\n      \"speed\": 0,\n      \"segment_id\": \"\
  departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n\
  \      \"timestamp\": 1765233679.905146,\n      \"lon\": -121.9895906222118,\n \
  \     \"lat\": 37.376740272960845,\n      \"yaw_radians\": 1.4976488570385083,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\"\
  : \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1765233679.9249954,\n  \
  \    \"lon\": -121.98959061956185,\n      \"lat\": 37.37674030159393,\n      \"\
  yaw_radians\": 1.497616299540328,\n      \"speed\": 0.15538775413583766,\n     \
  \ \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233679.9451818,\n      \"lon\": -121.98959061407614,\n\
  \      \"lat\": 37.37674036084179,\n      \"yaw_radians\": 1.4975494790436583,\n\
  \      \"speed\": 0.3161685756603378,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233679.965108,\n      \"lon\": -121.98959060865621,\n      \"lat\": 37.37674041932567,\n\
  \      \"yaw_radians\": 1.4974843312257695,\n      \"speed\": 0.3161685756603378,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233679.985211,\n      \"lon\": -121.98959060283447,\n\
  \      \"lat\": 37.376740484030464,\n      \"yaw_radians\": 1.4974064324857632,\n\
  \      \"speed\": 0.34583044629798143,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.0052257,\n      \"lon\": -121.98959059922035,\n      \"lat\": 37.37674052297228,\n\
  \      \"yaw_radians\": 1.4973680899306199,\n      \"speed\": 0.36369498202292583,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.0252888,\n      \"lon\": -121.9895905953,\n\
  \      \"lat\": 37.37674056518013,\n      \"yaw_radians\": 1.4973293138242152,\n\
  \      \"speed\": 0.39099738567802966,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.0451121,\n      \"lon\": -121.98959058822363,\n      \"lat\": 37.37674064130661,\n\
  \      \"yaw_radians\": 1.4972558865596057,\n      \"speed\": 0.40953605482655697,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.064432,\n      \"lon\": -121.98959058160857,\n\
  \      \"lat\": 37.37674071239244,\n      \"yaw_radians\": 1.4971961578001307,\n\
  \      \"speed\": 0.42874885739866697,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.0842407,\n      \"lon\": -121.98959057426052,\n      \"lat\": 37.376740791294694,\n\
  \      \"yaw_radians\": 1.4971291681756438,\n      \"speed\": 0.4456021929882372,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.1052,\n      \"lon\": -121.98959056638702,\n\
  \      \"lat\": 37.376740875760774,\n      \"yaw_radians\": 1.4970628926619074,\n\
  \      \"speed\": 0.46110726173064187,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.1240633,\n      \"lon\": -121.98959055884272,\n      \"lat\": 37.37674095661796,\n\
  \      \"yaw_radians\": 1.4970026359834088,\n      \"speed\": 0.47627526376125506,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.1450145,\n      \"lon\": -121.98959055006645,\n\
  \      \"lat\": 37.376741050599556,\n      \"yaw_radians\": 1.4969363483964815,\n\
  \      \"speed\": 0.49110619908007697,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.1643143,\n      \"lon\": -121.98959054208278,\n      \"lat\": 37.376741136014196,\n\
  \      \"yaw_radians\": 1.4968791057388429,\n      \"speed\": 0.5049259342635246,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.1842728,\n      \"lon\": -121.9895905333863,\n\
  \      \"lat\": 37.376741224612225,\n      \"yaw_radians\": 1.496857806761822,\n\
  \      \"speed\": 0.5187456694469721,\n      \"segment_id\": \"departure_segment_b\"\
  ,\n      \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\"\
  : 1765233680.20503,\n      \"lon\": -121.98959052321791,\n      \"lat\": 37.376741333283526,\n\
  \      \"yaw_radians\": 1.4967897064597724,\n      \"speed\": 0.5312171377832541,\n\
  \      \"segment_id\": \"departure_segment_b\",\n      \"segment_type\": \"parking_exit\"\
  \n    },\n    {\n      \"timestamp\": 1765233680.2240882,\n      \"lon\": -121.98959051535607,\n\
  \      \"lat\": 37.37674141723308,\n      \"yaw_radians\": 1.496740581681144,\n\
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  yaw_radians\": 3.1065617099863307,\n      \"speed\": 0.40683952113222577,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 3.1077812096126505,\n      \"speed\": 0.4927915326390339,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 3.108527144908017,\n      \"speed\": 0.5355990050365423,\n  \
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 3.1122379495757895,\n      \"speed\": 0.6795264909714723,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 3.1131594887877623,\n      \"speed\": 0.7034582275086619,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1769206855.6911037,\n      \"lon\": -121.98986213366074,\n\
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  yaw_radians\": 3.1145047424709995,\n      \"speed\": 0.7385131655349682,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 3.115504447551647,\n      \"speed\": 0.760085435089618,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206855.791206,\n      \"lon\": -121.98986301253102,\n\
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  \ \"yaw_radians\": 3.118009601255932,\n      \"speed\": 0.8113195752819116,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206855.871033,\n      \"lon\": -121.9898637522897,\n\
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  \n    },\n    {\n      \"timestamp\": 1769206855.9110696,\n      \"lon\": -121.98986413912338,\n\
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  yaw_radians\": 3.1212249248444404,\n      \"speed\": 0.8568235813737514,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \n    },\n    {\n      \"timestamp\": 1769206856.1510482,\n      \"lon\": -121.98986659227383,\n\
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  yaw_radians\": 3.1270103779338316,\n      \"speed\": 0.9181697229197869,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \n    },\n    {\n      \"timestamp\": 1769206856.2310393,\n      \"lon\": -121.98986745903763,\n\
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  yaw_radians\": 3.1293033409056994,\n      \"speed\": 0.9390678590508539,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 3.1303488396047023,\n      \"speed\": 0.9512022606753445,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 3.1313292980772296,\n      \"speed\": 0.9619883954526697,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206856.3510513,\n      \"lon\"\
  : -121.9898687926026,\n      \"lat\": 37.37684650122312,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1769206856.3710797,\n      \"lon\": -121.98986901321643,\n\
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  \ \"yaw_radians\": 3.132888896153492,\n      \"speed\": 0.978167597618657,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206856.4110487,\n      \"lon\":\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206856.431072,\n      \"lon\": -121.9898697024491,\n\
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  \ \"yaw_radians\": 3.1373642244078526,\n      \"speed\": 1.0263681374048281,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  yaw_radians\": 3.1397309948387164,\n      \"speed\": 1.0176044028982516,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 3.1393508642656487,\n      \"speed\": 1.0132225356449631,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \      \"lon\": -121.98987688307244,\n      \"lat\": 37.376846524585496,\n     \
  \ \"yaw_radians\": 3.1388374963870347,\n      \"speed\": 1.0128854689331719,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206857.051006,\n      \"lon\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206857.0712802,\n      \"lon\": -121.98987735922866,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.1111593,\n      \"lon\": -121.98987783010395,\n\
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  \      \"speed\": 1.0101889352388402,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 3.1370806604100645,\n      \"speed\": 1.0118742687977975,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.151403,\n      \"lon\": -121.98987831580638,\n\
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  \      \"speed\": 1.01490786920392,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 3.1363095447742513,\n      \"speed\": 1.0135596023567546,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.1912198,\n      \"lon\": -121.98987879080866,\n\
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  \      \"speed\": 1.012211335509589,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"lon\": -121.98987902361002,\n      \"lat\": 37.37684653119562,\n      \"\
  yaw_radians\": 3.1353205975903995,\n      \"speed\": 1.0138966690685458,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.2312028,\n      \"lon\": -121.9898792594308,\n\
  \      \"lat\": 37.37684653246832,\n      \"yaw_radians\": 3.134778581950236,\n\
  \      \"speed\": 1.0138966690685458,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 3.134191216525369,\n      \"speed\": 1.0135596023567548,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.27135,\n      \"lon\": -121.98987974596712,\n\
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  yaw_radians\": 3.1331858629662688,\n      \"speed\": 1.012211335509589,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.311251,\n      \"lon\": -121.9898802157697,\n\
  \      \"lat\": 37.37684653636902,\n      \"yaw_radians\": 3.132509599076258,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206857.331371,\n\
  \      \"lon\": -121.98988045255227,\n      \"lat\": 37.376846538168074,\n     \
  \ \"yaw_radians\": 3.131787543472037,\n      \"speed\": 1.0132225356449633,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206857.350535,\n      \"lon\": -121.98988069102897,\n\
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  \      \"lon\": -121.98988097077715,\n      \"lat\": 37.376846539843214,\n     \
  \ \"yaw_radians\": 3.1303892330581586,\n      \"speed\": 1.013222535644963,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206857.3913662,\n      \"lon\":\
  \ -121.98988117308775,\n      \"lat\": 37.37684654171567,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206857.4107304,\n      \"lon\": -121.98988140087201,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.5309901,\n      \"lon\": -121.98988283252734,\n\
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  yaw_radians\": 3.1216807164637888,\n      \"speed\": 1.0125484022213802,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.5709722,\n      \"lon\": -121.98988331326528,\n\
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  yaw_radians\": 3.1191400011318193,\n      \"speed\": 1.0135596023567546,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.6110134,\n      \"lon\": -121.98988379138741,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206857.651017,\n      \"lon\": -121.98988427774715,\n\
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  \      \"lon\": -121.98988450876732,\n      \"lat\": 37.376846587691276,\n     \
  \ \"yaw_radians\": 3.1137547628674587,\n      \"speed\": 1.0192897364572084,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206857.6905413,\n      \"lon\"\
  : -121.98988475155272,\n      \"lat\": 37.37684659316319,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206857.710998,\n      \"lon\": -121.98988499095388,\n\
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  \ \"yaw_radians\": 3.088097915805432,\n      \"speed\": 1.064119609125465,\n   \
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 3.0608505826397847,\n      \"speed\": 1.1429932196846537,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206858.2310236,\n      \"lon\"\
  : -121.98989153978575,\n      \"lat\": 37.37684687561356,\n      \"yaw_radians\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206858.2509828,\n      \"lon\": -121.98989181931844,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 3.048016393605966,\n      \"speed\": 1.1820929582524569,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98989290631364,\n      \"lat\": 37.37684696882986,\n      \"yaw_radians\"\
  : 3.045394906852536,\n      \"speed\": 1.1918678928944078,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1769206858.3513455,\n      \"lon\": -121.98989320548519,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 3.0341995414683094,\n      \"speed\": 1.2269228309207139,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 3.022285057136242,\n      \"speed\": 1.2650113693531426,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206858.510448,\n      \"lon\": -121.98989548999847,\n\
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  yaw_radians\": 3.015945331628766,\n      \"speed\": 1.2811905715191296,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206858.5504427,\n      \"lon\": -121.98989608765547,\n\
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  yaw_radians\": 3.0092000562696226,\n      \"speed\": 1.298718040532283,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206858.5913994,\n      \"lon\": -121.98989670238531,\n\
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  \      \"lon\": -121.98989698891182,\n      \"lat\": 37.376847345325345,\n     \
  \ \"yaw_radians\": 3.0026023620210007,\n      \"speed\": 1.312874842427522,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.9898972920257,\n      \"lat\": 37.37684737927872,\n      \"yaw_radians\"\
  : 2.999205441276989,\n      \"speed\": 1.3192791099515588,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206858.650376,\n      \"lon\": -121.98989760600828,\n\
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  yaw_radians\": 2.9921764171626064,\n      \"speed\": 1.3347841786939636,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 2.9848297133739843,\n      \"speed\": 1.3472556470302455,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206858.7309995,\n      \"lon\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206858.750429,\n      \"lon\": -121.98989916063512,\n\
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  yaw_radians\": 2.9734717500687564,\n      \"speed\": 1.3634348491962327,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206858.7906845,\n      \"lon\": -121.98989979155468,\n\
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  yaw_radians\": 2.9658394970019613,\n      \"speed\": 1.3755692508207233,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206858.831007,\n      \"lon\": -121.98990043748054,\n\
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  yaw_radians\": 2.9576521095757595,\n      \"speed\": 1.3809623182093858,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206858.870722,\n      \"lon\": -121.98990107028506,\n\
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  yaw_radians\": 2.9490517968563665,\n      \"speed\": 1.3968044536635817,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206858.9104621,\n      \"lon\": -121.98990169601562,\n\
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  \      \"lon\": -121.98990204752572,\n      \"lat\": 37.376848020222994,\n     \
  \ \"yaw_radians\": 2.940470367880887,\n      \"speed\": 1.4042199213229927,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206858.950453,\n      \"lon\": -121.98990235186221,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206858.970433,\n\
  \      \"lon\": -121.98990266689755,\n      \"lat\": 37.376848116734415,\n     \
  \ \"yaw_radians\": 2.9321395136598656,\n      \"speed\": 1.4136577892531517,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206858.9904466,\n      \"lon\"\
  : -121.98990301580722,\n      \"lat\": 37.3768481760409,\n      \"yaw_radians\"\
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  yaw_radians\": 2.9180024633776953,\n      \"speed\": 1.4311852582663052,\n     \
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  \ \"yaw_radians\": 2.909274915248941,\n      \"speed\": 1.4375895257903422,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 2.8999641184429423,\n      \"speed\": 1.4483756605676668,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 2.885210225683169,\n      \"speed\": 1.451072194261998,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.2704139,\n      \"lon\": -121.9899075868402,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 2.843404389280153,\n      \"speed\": 1.4584876619214089,\n      \"\
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  \n    },\n    {\n      \"timestamp\": 1769206859.3504503,\n      \"lon\": -121.98990891638418,\n\
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  \      \"lon\": -121.98990922182716,\n      \"lat\": 37.376849439741996,\n     \
  \ \"yaw_radians\": 2.8332816000747454,\n      \"speed\": 1.452083394397372,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98990959583895,\n      \"lat\": 37.376849534968116,\n      \"yaw_radians\"\
  : 2.826916827096213,\n      \"speed\": 1.4514092609737896,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206859.4104118,\n      \"lon\": -121.9899098714631,\n\
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  \      \"lon\": -121.98991022619423,\n      \"lat\": 37.376849700432345,\n     \
  \ \"yaw_radians\": 2.816084796116302,\n      \"speed\": 1.4490497939912497,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98991053393948,\n      \"lat\": 37.376849771447525,\n      \"yaw_radians\"\
  : 2.8109600507606265,\n      \"speed\": 1.4460161935851272,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1769206859.470464,\n      \"lon\": -121.98991083766016,\n\
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  yaw_radians\": 2.799420484149429,\n      \"speed\": 1.4433196598907956,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.5104046,\n      \"lon\": -121.98991147441635,\n\
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  yaw_radians\": 2.788171342148764,\n      \"speed\": 1.4396119260610905,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.5506186,\n      \"lon\": -121.98991213195193,\n\
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  \      \"lon\": -121.98991244536778,\n      \"lat\": 37.376850304899286,\n     \
  \ \"yaw_radians\": 2.777111045479014,\n      \"speed\": 1.4355671255195936,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206859.5904052,\n      \"lon\":\
  \ -121.98991275722868,\n      \"lat\": 37.37685039997891,\n      \"yaw_radians\"\
  : 2.7713931640169354,\n      \"speed\": 1.4332076585370537,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1769206859.6104085,\n      \"lon\": -121.98991306858038,\n\
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  \      \"speed\": 1.433544725248845,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.760006821737716,\n      \"speed\": 1.431859391689888,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.6504533,\n      \"lon\": -121.98991370136369,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.6904392,\n      \"lon\": -121.98991431595171,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.7310605,\n      \"lon\": -121.98991493657434,\n\
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  yaw_radians\": 2.7249570508837846,\n      \"speed\": 1.4298369914191396,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.7705023,\n      \"lon\": -121.98991554798877,\n\
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  \      \"lon\": -121.98991586681402,\n      \"lat\": 37.376851411522196,\n     \
  \ \"yaw_radians\": 2.712889446853244,\n      \"speed\": 1.434892992096011,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 2.7012045063568206,\n      \"speed\": 1.4399489927728812,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206859.8506691,\n      \"lon\"\
  : -121.98991677193527,\n      \"lat\": 37.376851734375585,\n      \"yaw_radians\"\
  : 2.695051618634438,\n      \"speed\": 1.4416343263318387,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206859.8706226,\n      \"lon\": -121.98991706185232,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.9106421,\n      \"lon\": -121.98991769053791,\n\
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  yaw_radians\": 2.6709518307507127,\n      \"speed\": 1.4584876619214089,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.9506242,\n      \"lon\": -121.98991829015328,\n\
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  yaw_radians\": 2.657931300090947,\n      \"speed\": 1.4689367299869425,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206859.9906337,\n      \"lon\": -121.98991889390462,\n\
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  \      \"lon\": -121.98991920597186,\n      \"lat\": 37.376852705114594,\n     \
  \ \"yaw_radians\": 2.6452929300158767,\n      \"speed\": 1.4780375312053105,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.0305946,\n      \"lon\"\
  : -121.98991949789905,\n      \"lat\": 37.3768528314177,\n      \"yaw_radians\"\
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  \   {\n      \"timestamp\": 1769206860.0506606,\n      \"lon\": -121.9899198070628,\n\
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  \      \"lon\": -121.98992011062306,\n      \"lat\": 37.376853088482235,\n     \
  \ \"yaw_radians\": 2.6261656726781273,\n      \"speed\": 1.4955650002184633,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.0905876,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1769206860.1106005,\n      \"lon\": -121.9899207160478,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.1504598,\n      \"lon\": -121.98992131624142,\n\
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  yaw_radians\": 2.5936545957767163,\n      \"speed\": 1.5164631363495304,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.1905758,\n      \"lon\": -121.98992192196035,\n\
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  yaw_radians\": 2.580539667602925,\n      \"speed\": 1.5269122044150645,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.2300644,\n      \"lon\": -121.98992251692214,\n\
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  \      \"speed\": 1.5306199382447694,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 2.5670088595878897,\n      \"speed\": 1.5299458048211867,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.2705853,\n      \"lon\": -121.98992312538422,\n\
  \      \"lat\": 37.37685452498814,\n      \"yaw_radians\": 2.560359957959687,\n\
  \      \"speed\": 1.533653538650892,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.2906005,\n\
  \      \"lon\": -121.98992342348141,\n      \"lat\": 37.376854681456265,\n     \
  \ \"yaw_radians\": 2.553774846355019,\n      \"speed\": 1.5403948728867203,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206860.3105576,\n      \"lon\":\
  \ -121.9899237304115,\n      \"lat\": 37.376854844886196,\n      \"yaw_radians\"\
  : 2.546966597258389,\n      \"speed\": 1.5434284732928432,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206860.330043,\n      \"lon\": -121.98992400614789,\n\
  \      \"lat\": 37.3768549938864,\n      \"yaw_radians\": 2.5408227001253385,\n\
  \      \"speed\": 1.548484473969714,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.3505244,\n\
  \      \"lon\": -121.98992431188277,\n      \"lat\": 37.37685514373948,\n      \"\
  yaw_radians\": 2.5336532069397,\n      \"speed\": 1.554214608070168,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206860.3705409,\n      \"lon\": -121.98992460897352,\n\
  \      \"lat\": 37.376855308922075,\n      \"yaw_radians\": 2.526972350240104,\n\
  \      \"speed\": 1.5585964753234562,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.3905184,\n\
  \      \"lon\": -121.98992490700343,\n      \"lat\": 37.37685547700332,\n      \"\
  yaw_radians\": 2.5202388193205967,\n      \"speed\": 1.5646636761357013,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.4107053,\n      \"lon\": -121.9899252133727,\n\
  \      \"lat\": 37.37685565226787,\n      \"yaw_radians\": 2.5132871574776234,\n\
  \      \"speed\": 1.5697196768125727,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.4303129,\n\
  \      \"lon\": -121.98992548828687,\n      \"lat\": 37.37685581185784,\n      \"\
  yaw_radians\": 2.5070234330523773,\n      \"speed\": 1.571067943659738,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.4505374,\n      \"lon\": -121.98992578391328,\n\
  \      \"lat\": 37.37685596664946,\n      \"yaw_radians\": 2.4999285306514807,\n\
  \      \"speed\": 1.5781463446073576,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.4705193,\n\
  \      \"lon\": -121.98992607863296,\n      \"lat\": 37.37685614258935,\n      \"\
  yaw_radians\": 2.493151804500738,\n      \"speed\": 1.5821911451488548,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.4905112,\n      \"lon\": -121.98992636901626,\n\
  \      \"lat\": 37.37685631839966,\n      \"yaw_radians\": 2.4864460967968456,\n\
  \      \"speed\": 1.5845506121313946,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.5106122,\n\
  \      \"lon\": -121.98992667264406,\n      \"lat\": 37.376856504807535,\n     \
  \ \"yaw_radians\": 2.479397923329677,\n      \"speed\": 1.589943679520057,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206860.5305161,\n      \"lon\":\
  \ -121.98992695363259,\n      \"lat\": 37.376856679846505,\n      \"yaw_radians\"\
  : 2.472841957805373,\n      \"speed\": 1.5912919463672226,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206860.5499709,\n      \"lon\": -121.98992723179329,\n\
  \      \"lat\": 37.376856843619656,\n      \"yaw_radians\": 2.46563967261009,\n\
  \      \"speed\": 1.5973591471794677,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.5704956,\n\
  \      \"lon\": -121.98992753009138,\n      \"lat\": 37.37685703476617,\n      \"\
  yaw_radians\": 2.4586089209910704,\n      \"speed\": 1.601066881009173,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.5904865,\n      \"lon\": -121.98992781780052,\n\
  \      \"lat\": 37.37685722179502,\n      \"yaw_radians\": 2.4517926460259774,\n\
  \      \"speed\": 1.6054487482624613,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.6105022,\n\
  \      \"lon\": -121.98992811033038,\n      \"lat\": 37.37685741462299,\n      \"\
  yaw_radians\": 2.4448213344735645,\n      \"speed\": 1.610841815651124,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.6306872,\n      \"lon\": -121.98992840790504,\n\
  \      \"lat\": 37.37685761357671,\n      \"yaw_radians\": 2.437694128267341,\n\
  \      \"speed\": 1.6192684834459092,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.6505172,\n\
  \      \"lon\": -121.98992866306737,\n      \"lat\": 37.37685776535159,\n      \"\
  yaw_radians\": 2.431135128737515,\n      \"speed\": 1.6229762172756146,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.670558,\n      \"lon\": -121.9899289583734,\n\
  \      \"lat\": 37.37685796834046,\n      \"yaw_radians\": 2.4239887418967543,\n\
  \      \"speed\": 1.62904341808786,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.6905217,\n\
  \      \"lon\": -121.9899292437887,\n      \"lat\": 37.37685816737931,\n      \"\
  yaw_radians\": 2.4170483365655717,\n      \"speed\": 1.6351106189001052,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.7106287,\n      \"lon\": -121.98992952817181,\n\
  \      \"lat\": 37.376858368498795,\n      \"yaw_radians\": 2.4100963751808226,\n\
  \      \"speed\": 1.6421890198477247,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.7304957,\n\
  \      \"lon\": -121.98992981631847,\n      \"lat\": 37.37685857515323,\n      \"\
  yaw_radians\": 2.4030225679964117,\n      \"speed\": 1.646570887101013,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.749695,\n      \"lon\": -121.98993006779403,\n\
  \      \"lat\": 37.37685873707687,\n      \"yaw_radians\": 2.3962776755375566,\n\
  \      \"speed\": 1.6502786209307185,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.7705553,\n\
  \      \"lon\": -121.98993036238815,\n      \"lat\": 37.376858954307046,\n     \
  \ \"yaw_radians\": 2.3889895005505,\n      \"speed\": 1.6482562206599696,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206860.7906122,\n      \"lon\":\
  \ -121.98993064266908,\n      \"lat\": 37.37685916402821,\n      \"yaw_radians\"\
  : 2.3820271743383805,\n      \"speed\": 1.6610647557080434,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206860.8104465,\n      \"lon\": -121.98993092381913,\n\
  \      \"lat\": 37.376859377365406,\n      \"yaw_radians\": 2.3750121845688166,\n\
  \      \"speed\": 1.6614018224198348,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.8307033,\n\
  \      \"lon\": -121.9899312155347,\n      \"lat\": 37.37685960186226,\n      \"\
  yaw_radians\": 2.367706687164254,\n      \"speed\": 1.6644354228259572,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.8504755,\n      \"lon\": -121.98993144576268,\n\
  \      \"lat\": 37.3768597664541,\n      \"yaw_radians\": 2.361002146327831,\n \
  \     \"speed\": 1.668480223367454,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.8706691,\n\
  \      \"lon\": -121.9899317342072,\n      \"lat\": 37.37685999474377,\n      \"\
  yaw_radians\": 2.353728053462248,\n      \"speed\": 1.6718508904853682,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.890503,\n      \"lon\": -121.9899320103176,\n\
  \      \"lat\": 37.376860216475286,\n      \"yaw_radians\": 2.34674217566439,\n\
  \      \"speed\": 1.6748844908914906,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.9097462,\n\
  \      \"lon\": -121.9899322679513,\n      \"lat\": 37.37686042628867,\n      \"\
  yaw_radians\": 2.340198755938664,\n      \"speed\": 1.6796034248565705,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.9304645,\n      \"lon\": -121.98993255654125,\n\
  \      \"lat\": 37.376860664405626,\n      \"yaw_radians\": 2.3328470104637398,\n\
  \      \"speed\": 1.6826370252626934,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.9497664,\n\
  \      \"lon\": -121.9899327883401,\n      \"lat\": 37.37686084333174,\n      \"\
  yaw_radians\": 2.325870196858879,\n      \"speed\": 1.6930860933282268,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206860.9698973,\n      \"lon\": -121.98993306557841,\n\
  \      \"lat\": 37.37686107874555,\n      \"yaw_radians\": 2.318746754497363,\n\
  \      \"speed\": 1.6971308938697236,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206860.9896867,\n\
  \      \"lon\": -121.98993333963233,\n      \"lat\": 37.3768613147983,\n      \"\
  yaw_radians\": 2.311677166797061,\n      \"speed\": 1.7015127611230119,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.0104167,\n      \"lon\": -121.98993359828953,\n\
  \      \"lat\": 37.37686154076316,\n      \"yaw_radians\": 2.3049823995778325,\n\
  \      \"speed\": 1.7085911620706313,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.029647,\n\
  \      \"lon\": -121.9899338722034,\n      \"lat\": 37.37686178330968,\n      \"\
  yaw_radians\": 2.2978513948257855,\n      \"speed\": 1.7106135623413796,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.0498564,\n      \"lon\": -121.98993410722875,\n\
  \      \"lat\": 37.37686198674251,\n      \"yaw_radians\": 2.290462289571747,\n\
  \      \"speed\": 1.719040230136165,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.0704029,\n\
  \      \"lon\": -121.98993438299684,\n      \"lat\": 37.376862238170176,\n     \
  \ \"yaw_radians\": 2.2832237109044393,\n      \"speed\": 1.7230850306776617,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.089735,\n      \"lon\"\
  : -121.98993462391563,\n      \"lat\": 37.37686246106725,\n      \"yaw_radians\"\
  : 2.276874951937068,\n      \"speed\": 1.7261186310837844,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206861.1104038,\n      \"lon\": -121.98993491326067,\n\
  \      \"lat\": 37.37686273224187,\n      \"yaw_radians\": 2.269214336133521,\n\
  \      \"speed\": 1.7291522314899068,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.1296864,\n\
  \      \"lon\": -121.98993514970219,\n      \"lat\": 37.376862957291046,\n     \
  \ \"yaw_radians\": 2.262938630433441,\n      \"speed\": 1.731848765184238,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206861.1498528,\n      \"lon\":\
  \ -121.98993537642599,\n      \"lat\": 37.376863161161424,\n      \"yaw_radians\"\
  : 2.2556737364568304,\n      \"speed\": 1.7426348999615633,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206861.1700866,\n      \"lon\": -121.9899356510093,\n\
  \      \"lat\": 37.37686342983807,\n      \"yaw_radians\": 2.248332835339222,\n\
  \      \"speed\": 1.7402754329790233,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.189681,\n\
  \      \"lon\": -121.98993588358928,\n      \"lat\": 37.37686366085344,\n      \"\
  yaw_radians\": 2.2421134441499544,\n      \"speed\": 1.745668500367686,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.210381,\n      \"lon\": -121.98993616286603,\n\
  \      \"lat\": 37.37686394184224,\n      \"yaw_radians\": 2.234615596424402,\n\
  \      \"speed\": 1.7480279673502255,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.2296908,\n\
  \      \"lon\": -121.98993639337122,\n      \"lat\": 37.37686417735274,\n      \"\
  yaw_radians\": 2.2284361533455055,\n      \"speed\": 1.7530839680270969,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.2504065,\n      \"lon\": -121.98993662030465,\n\
  \      \"lat\": 37.37686440078219,\n      \"yaw_radians\": 2.220959982273932,\n\
  \      \"speed\": 1.7588141021275507,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.2705812,\n\
  \      \"lon\": -121.98993687830959,\n      \"lat\": 37.37686467196807,\n      \"\
  yaw_radians\": 2.2140313836009127,\n      \"speed\": 1.7631959693808386,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.2898216,\n      \"lon\": -121.98993710211249,\n\
  \      \"lat\": 37.376864910632904,\n      \"yaw_radians\": 2.2080340214988428,\n\
  \      \"speed\": 1.7672407699223358,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.3103323,\n\
  \      \"lon\": -121.98993737017273,\n      \"lat\": 37.37686520012962,\n      \"\
  yaw_radians\": 2.2008231443433415,\n      \"speed\": 1.771622637175624,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.3297324,\n      \"lon\": -121.98993758948085,\n\
  \      \"lat\": 37.37686544058533,\n      \"yaw_radians\": 2.1949343593257606,\n\
  \      \"speed\": 1.7800493049704094,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.3504038,\n\
  \      \"lon\": -121.98993781229619,\n      \"lat\": 37.376865675402996,\n     \
  \ \"yaw_radians\": 2.1874987223777143,\n      \"speed\": 1.782408771952949,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206861.3705952,\n      \"lon\":\
  \ -121.98993806531544,\n      \"lat\": 37.37686596073449,\n      \"yaw_radians\"\
  : 2.1806635065209603,\n      \"speed\": 1.7820717052411574,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206861.3897672,\n      \"lon\": -121.98993827784838,\n\
  \      \"lat\": 37.37686620390969,\n      \"yaw_radians\": 2.1749225718198297,\n\
  \      \"speed\": 1.7830829053765318,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.4099996,\n\
  \      \"lon\": -121.98993852898573,\n      \"lat\": 37.37686649479026,\n      \"\
  yaw_radians\": 2.1681122254949434,\n      \"speed\": 1.7864535724944457,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.4303703,\n      \"lon\": -121.98993875271017,\n\
  \      \"lat\": 37.37686675771316,\n      \"yaw_radians\": 2.1620408025653335,\n\
  \      \"speed\": 1.7894871729005686,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.4497423,\n\
  \      \"lon\": -121.98993895014942,\n      \"lat\": 37.376866978612135,\n     \
  \ \"yaw_radians\": 2.155342304626856,\n      \"speed\": 1.7979138406953534,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206861.4699252,\n      \"lon\":\
  \ -121.98993919552234,\n      \"lat\": 37.376867275042976,\n      \"yaw_radians\"\
  : 2.148633871755023,\n      \"speed\": 1.8019586412368505,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206861.4903495,\n      \"lon\": -121.9899394175875,\n\
  \      \"lat\": 37.376867547239456,\n      \"yaw_radians\": 2.142560550382249,\n\
  \      \"speed\": 1.8043181082193904,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206861.5097125,\n\
  \      \"lon\": -121.98993963676166,\n      \"lat\": 37.376867819506565,\n     \
  \ \"yaw_radians\": 2.136546615783124,\n      \"speed\": 1.8113965091670094,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206861.530347,\n      \"lon\": -121.9899398807256,\n\
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  yaw_radians\": 2.1232864959744693,\n      \"speed\": 1.8167895765556723,\n     \
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  yaw_radians\": 2.1105484935347096,\n      \"speed\": 1.8309463784509115,\n     \
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  yaw_radians\": 2.086170504802373,\n      \"speed\": 1.8494850475994384,\n      \"\
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  \ \"yaw_radians\": 2.074210096940064,\n      \"speed\": 1.8572375819706408,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 2.0558554717089117,\n      \"speed\": 1.8747650509837939,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1769206861.810449,\n      \"lon\": -121.9899427260815,\n\
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  yaw_radians\": 2.038363049413028,\n      \"speed\": 1.902404521350689,\n      \"\
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  yaw_radians\": 2.0262784051430436,\n      \"speed\": 1.9152130563987628,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206861.890302,\n      \"lon\": -121.9899434774029,\n\
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  \ \"yaw_radians\": 2.0148583284400896,\n      \"speed\": 1.9243138576171304,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  : -121.98994385884335,\n      \"lat\": 37.37687397121525,\n      \"yaw_radians\"\
  : 2.009886992122112,\n      \"speed\": 1.9317293252765415,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206861.9503698,\n      \"lon\": -121.98994402641398,\n\
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  \ \"yaw_radians\": 1.998175856275142,\n      \"speed\": 1.938133592800578,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ 1.9924722794465892,\n      \"speed\": 1.940493059783118,\n      \"segment_id\"\
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  \   {\n      \"timestamp\": 1769206862.0106664,\n      \"lon\": -121.9899445877032,\n\
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  yaw_radians\": 1.9820827735987039,\n      \"speed\": 1.9556610618137313,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 1.9708674036007516,\n      \"speed\": 1.961054129202394,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.0904965,\n      \"lon\": -121.98994525771195,\n\
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  yaw_radians\": 1.960123121187192,\n      \"speed\": 1.9748738643858412,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.1305015,\n      \"lon\": -121.98994560553525,\n\
  \      \"lat\": 37.37687718056378,\n      \"yaw_radians\": 1.9552438866017625,\n\
  \      \"speed\": 1.9812781319098782,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 1.948894633801148,\n      \"speed\": 1.987008266010332,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.1705487,\n      \"lon\": -121.98994590096574,\n\
  \      \"lat\": 37.37687779846291,\n      \"yaw_radians\": 1.9441229279393484,\n\
  \      \"speed\": 1.990041866416454,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206862.190179,\n\
  \      \"lon\": -121.98994607912496,\n      \"lat\": 37.376878162330776,\n     \
  \ \"yaw_radians\": 1.938858044686283,\n      \"speed\": 1.993075466822577,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206862.210179,\n      \"lon\": -121.98994623447912,\n\
  \      \"lat\": 37.37687848457776,\n      \"yaw_radians\": 1.9342750208033013,\n\
  \      \"speed\": 1.9981314674994484,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"lon\": -121.98994640782641,\n      \"lat\": 37.376878849137746,\n     \
  \ \"yaw_radians\": 1.929127386060167,\n      \"speed\": 1.9944237336697423,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206862.2501714,\n      \"lon\":\
  \ -121.98994651666537,\n      \"lat\": 37.376879112672164,\n      \"yaw_radians\"\
  : 1.923498642976926,\n      \"speed\": 2.0001538677701967,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206862.2701602,\n      \"lon\": -121.98994668575742,\n\
  \      \"lat\": 37.376879480159104,\n      \"yaw_radians\": 1.9184193416753565,\n\
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  yaw_radians\": 1.913725671828966,\n      \"speed\": 2.0031874681763195,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.3101387,\n      \"lon\": -121.98994700012207,\n\
  \      \"lat\": 37.3768801794054,\n      \"yaw_radians\": 1.908884526003536,\n \
  \     \"speed\": 2.000828001193779,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206862.3301766,\n\
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  yaw_radians\": 1.9042561200392734,\n      \"speed\": 2.004535735023485,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.3502455,\n      \"lon\": -121.98994726138736,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206862.370198,\n\
  \      \"lon\": -121.98994741137743,\n      \"lat\": 37.376881165426006,\n     \
  \ \"yaw_radians\": 1.8936456678168834,\n      \"speed\": 2.008917602276773,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206862.3901854,\n      \"lon\":\
  \ -121.98994755960342,\n      \"lat\": 37.37688151978264,\n      \"yaw_radians\"\
  : 1.8889290575981508,\n      \"speed\": 2.004872801735276,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206862.4103305,\n      \"lon\": -121.98994770637572,\n\
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  \     \"speed\": 2.009591735700356,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206862.4302597,\n\
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  yaw_radians\": 1.8795270129412136,\n      \"speed\": 2.0099288024121473,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.4493818,\n      \"lon\": -121.9899479495353,\n\
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  \      \"speed\": 2.0099288024121473,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 1.8694061845958792,\n      \"speed\": 2.0075693354296074,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.4903264,\n      \"lon\": -121.98994823210812,\n\
  \      \"lat\": 37.3768832255298,\n      \"yaw_radians\": 1.864720093916944,\n \
  \     \"speed\": 2.0099288024121473,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 1.8601669722330836,\n      \"speed\": 2.0203778704776805,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.5302308,\n      \"lon\": -121.9899485087788,\n\
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  yaw_radians\": 1.8503335612812468,\n      \"speed\": 2.022063204036638,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.5701418,\n      \"lon\": -121.98994873182414,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.6096873,\n      \"lon\": -121.98994897794415,\n\
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  yaw_radians\": 1.830952957287007,\n      \"speed\": 2.0291416049842574,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.649818,\n      \"lon\": -121.98994919309332,\n\
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  yaw_radians\": 1.82109370083993,\n      \"speed\": 2.025433871154552,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206862.690114,\n      \"lon\": -121.9899494371167,\n\
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  \      \"lon\": -121.98994954454925,\n      \"lat\": 37.376887057028895,\n     \
  \ \"yaw_radians\": 1.8117359557243284,\n      \"speed\": 2.0291416049842574,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206862.7299986,\n      \"lon\"\
  : -121.98994966282719,\n      \"lat\": 37.376887442122076,\n      \"yaw_radians\"\
  : 1.8067099760486383,\n      \"speed\": 2.0311640052550057,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206862.7498875,\n      \"lon\": -121.98994973080544,\n\
  \      \"lat\": 37.3768877250172,\n      \"yaw_radians\": 1.8010393539419562,\n\
  \      \"speed\": 2.0291416049842574,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"lon\": -121.98994984022318,\n      \"lat\": 37.376888098427024,\n     \
  \ \"yaw_radians\": 1.796146121890945,\n      \"speed\": 2.0315010719667974,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 1.770541844375946,\n      \"speed\": 2.0294786716960487,\n  \
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  \ \"yaw_radians\": 1.7388453156877424,\n      \"speed\": 2.03453467237292,\n   \
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  \ \"yaw_radians\": 1.7108568803794695,\n      \"speed\": 2.0200408037658897,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 1.6927428941488674,\n      \"speed\": 2.0129624028182698,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 1.675741067177904,\n      \"speed\": 2.002850401464528,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 1.6573143562449926,\n      \"speed\": 1.9981314674994484,\n     \
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  \ \"yaw_radians\": 1.6458239896366968,\n      \"speed\": 1.9859970658749577,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  yaw_radians\": 1.6148319249107914,\n      \"speed\": 1.9846487990277915,\n     \
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  \ \"yaw_radians\": 1.601601213440552,\n      \"speed\": 1.9799298650627124,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  yaw_radians\": 1.5767995335910316,\n      \"speed\": 1.984648799027792,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206863.5496933,\n      \"lon\": -121.98995179760195,\n\
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  \ \"yaw_radians\": 1.5632528798570147,\n      \"speed\": 1.9829634654688348,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1769206863.6096087,\n      \"lon\": -121.98995178654042,\n\
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  \ \"yaw_radians\": 1.5442293835421217,\n      \"speed\": 1.9822893320452524,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 1.5112174560955556,\n      \"speed\": 1.9694807969971786,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1769206863.7696006,\n      \"lon\": -121.98995159955562,\n\
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  yaw_radians\": 1.3901427346381456,\n      \"speed\": 1.9549869283901482,\n     \
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  yaw_radians\": 1.3756931250793705,\n      \"speed\": 1.9640877296085162,\n     \
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  \ \"yaw_radians\": 1.359602230812818,\n      \"speed\": 1.96745839672643,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.3097277,\n      \"lon\": -121.98994953818769,\n\
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  yaw_radians\": 1.2905028911984011,\n      \"speed\": 1.9917271999754114,\n     \
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  \n    },\n    {\n      \"timestamp\": 1769206864.3497152,\n      \"lon\": -121.98994932191398,\n\
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  \n    },\n    {\n      \"timestamp\": 1769206864.3896942,\n      \"lon\": -121.98994905165083,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.4303765,\n      \"lon\": -121.98994875635941,\n\
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  yaw_radians\": 1.2445002257196305,\n      \"speed\": 2.050376807827116,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.469755,\n      \"lon\": -121.98994852023456,\n\
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  \      \"lon\": -121.98994836286167,\n      \"lat\": 37.376918315812624,\n     \
  \ \"yaw_radians\": 1.2285969563002086,\n      \"speed\": 2.07767921148222,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98994820281261,\n      \"lat\": 37.37691867379505,\n      \"yaw_radians\"\
  : 1.2206425819474513,\n      \"speed\": 2.0928472135128326,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206864.5296662,\n      \"lon\": -121.98994802642775,\n\
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  \     \"speed\": 2.102285081442992,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  yaw_radians\": 1.2041724624314978,\n      \"speed\": 2.1181272168971885,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.5697749,\n      \"lon\": -121.98994772771798,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.6097434,\n      \"lon\": -121.98994736006853,\n\
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  yaw_radians\": 1.1703222410313272,\n      \"speed\": 2.1541933550588683,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.6498187,\n      \"lon\": -121.98994700096685,\n\
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  \      \"speed\": 2.161945889430071,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  \      \"lon\": -121.98994680017925,\n      \"lat\": 37.376921477520355,\n     \
  \ \"yaw_radians\": 1.1525053917200863,\n      \"speed\": 2.168687223665899,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ -121.98994659669242,\n      \"lat\": 37.37692184240652,\n      \"yaw_radians\"\
  : 1.1437869158249208,\n      \"speed\": 2.169361357089482,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206864.7097065,\n      \"lon\": -121.98994639325697,\n\
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  yaw_radians\": 1.1255863680987679,\n      \"speed\": 2.183181092272929,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.74982,\n      \"lon\": -121.9899459528404,\n\
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  \      \"speed\": 2.181495758713972,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206864.7697537,\n\
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  yaw_radians\": 1.1056368993540182,\n      \"speed\": 2.1841922924083037,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.7897847,\n      \"lon\": -121.98994550085982,\n\
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  \      \"lon\": -121.98994527514297,\n      \"lat\": 37.376923936973014,\n     \
  \ \"yaw_radians\": 1.0877227572102504,\n      \"speed\": 2.1835181589847203,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206864.8301585,\n      \"lon\"\
  : -121.98994502349562,\n      \"lat\": 37.37692431947886,\n      \"yaw_radians\"\
  : 1.0780519631861096,\n      \"speed\": 2.1916077600677144,\n      \"segment_id\"\
  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206864.8497725,\n      \"lon\": -121.98994478554295,\n\
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  yaw_radians\": 1.0569527139545762,\n      \"speed\": 2.19531549389742,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.8898463,\n      \"lon\": -121.98994428423981,\n\
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  yaw_radians\": 1.0387822043448758,\n      \"speed\": 2.199697361150708,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.929297,\n      \"lon\": -121.98994377291903,\n\
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  yaw_radians\": 1.0185816433835195,\n      \"speed\": 2.1825069588493466,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206864.9698114,\n      \"lon\": -121.9899432661765,\n\
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  yaw_radians\": 1.000410110972242,\n      \"speed\": 2.153182154923494,\n      \"\
  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206865.0097852,\n      \"lon\": -121.98994272063089,\n\
  \      \"lat\": 37.37692728470783,\n      \"yaw_radians\": 0.99081598641647,\n \
  \     \"speed\": 2.1356546859103416,\n      \"segment_id\": \"driving_segment_parking_lot\"\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206865.0488262,\n      \"lon\": -121.98994225541828,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206865.088909,\n      \"lon\": -121.98994169061568,\n\
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  yaw_radians\": 0.9460220681789596,\n      \"speed\": 2.1032962815783667,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206865.1294553,\n      \"lon\": -121.98994108273813,\n\
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  segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206865.1688378,\n      \"lon\": -121.98994056077966,\n\
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  yaw_radians\": 0.9090435084889471,\n      \"speed\": 2.1390253530282552,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206865.2087827,\n      \"lon\": -121.98993995776299,\n\
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  \ \"yaw_radians\": 0.890817382761021,\n      \"speed\": 2.156215755329617,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206865.248858,\n      \"lon\": -121.98993931555205,\n\
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  yaw_radians\": 0.8712762446361512,\n      \"speed\": 2.1986861610153343,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \ \"yaw_radians\": 0.8321282143422816,\n      \"speed\": 2.2431789669717994,\n \
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  \ \"yaw_radians\": 0.8044432402197316,\n      \"speed\": 2.2782339049981055,\n \
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  \n    },\n    {\n      \"timestamp\": 1769206865.6489065,\n      \"lon\": -121.98993214563482,\n\
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  \ \"yaw_radians\": 0.6801667946979936,\n      \"speed\": 2.3045251085178355,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": 0.6539030662678905,\n      \"speed\": 2.350029114609675,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206865.7688355,\n      \"lon\": -121.9899296951804,\n\
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  \ \"yaw_radians\": 0.48284323316126077,\n      \"speed\": 2.5724931443920025,\n\
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  \   {\n      \"timestamp\": 1769206866.1492345,\n      \"lon\": -121.98992073595876,\n\
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 0.42138233742828607,\n      \"speed\": 2.605188615435768,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206866.268844,\n      \"lon\": -121.98991760619596,\n\
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  \n    },\n    {\n      \"timestamp\": 1769206866.308831,\n      \"lon\": -121.98991649224871,\n\
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  \ \"yaw_radians\": 0.389881276131762,\n      \"speed\": 2.646647820986111,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206866.3494468,\n      \"lon\":\
  \ -121.98991546119709,\n      \"lat\": 37.37694419682777,\n      \"yaw_radians\"\
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  yaw_radians\": 0.3667472576192274,\n      \"speed\": 2.6891182266718285,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206866.4087718,\n      \"lon\": -121.98991376308916,\n\
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  yaw_radians\": 0.35156158130064874,\n      \"speed\": 2.708331029243938,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206866.4485765,\n      \"lon\": -121.98991269239544,\n\
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206866.4888132,\n      \"lon\": -121.98991150257802,\n\
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  yaw_radians\": 0.32196022706469707,\n      \"speed\": 2.7568686357419003,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206866.548593,\n      \"lon\": -121.98990983531917,\n\
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  \ \"yaw_radians\": 0.28620204885007783,\n      \"speed\": 2.8114734430521082,\n\
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  yaw_radians\": 0.25291717907710254,\n      \"speed\": 2.8724825178863522,\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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  yaw_radians\": 0.21561778974139412,\n      \"speed\": 2.9550638622752468,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": 0.19861202472426492,\n      \"speed\": 2.9998937349435035,\n\
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  yaw_radians\": 0.15099776528176492,\n      \"speed\": 3.1438212208784333,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206867.1089985,\n      \"lon\": -121.98989176815316,\n\
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  yaw_radians\": 0.13710004877667845,\n      \"speed\": 3.192358827376396,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 0.11881505379998791,\n      \"speed\": 3.263479903564382,\n     \
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  yaw_radians\": 0.10248347770836252,\n      \"speed\": 3.328870845651915,\n     \
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  yaw_radians\": 0.0811942003591424,\n      \"speed\": 3.4336985930190416,\n     \
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": 0.056804165917627575,\n      \"speed\": 3.573918345124266,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206867.6091695,\n      \"lon\": -121.98987289008262,\n\
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  \ \"yaw_radians\": 0.044042004695446536,\n      \"speed\": 3.657173822936743,\n\
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  \   {\n      \"timestamp\": 1769206867.7098343,\n      \"lon\": -121.98986877257389,\n\
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  yaw_radians\": 0.038019974130283685,\n      \"speed\": 3.7087450298408284,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206867.7698083,\n      \"lon\": -121.98986634070523,\n\
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  \ \"yaw_radians\": -0.6686366186962617,\n      \"speed\": 1.7827458386647406,\n\
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  \ \"yaw_radians\": -0.8037318878501928,\n      \"speed\": 1.8929666534205296,\n\
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  \ \"yaw_radians\": -0.836725109423576,\n      \"speed\": 1.9226285240581733,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.1211684431047324,\n      \"speed\": 2.115093616491066,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.143271637823456,\n      \"speed\": 2.14003655316363,\n   \
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  \ \"yaw_radians\": -1.2012933177340899,\n      \"speed\": 2.1794733584432238,\n\
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  \ \"yaw_radians\": -1.2551881275532748,\n      \"speed\": 2.2307074986355175,\n\
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  \ \"yaw_radians\": -1.312060436902088,\n      \"speed\": 2.302502708247087,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.448040295555591,\n      \"speed\": 2.5124952696931317,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.4712035039633,\n      \"speed\": 2.5495726079901866,\n   \
  \   \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.4984364948332685,\n      \"speed\": 2.6119299496715964,\n\
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  \   {\n      \"timestamp\": 1769206884.5648875,\n      \"lon\": -121.98923255884324,\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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  \   {\n      \"timestamp\": 1769206885.0049179,\n      \"lon\": -121.98923223290231,\n\
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  \ \"yaw_radians\": -1.539419861615687,\n      \"speed\": 2.729566232086797,\n  \
  \    \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206885.3049514,\n      \"lon\": -121.98923215687738,\n\
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  \ \"yaw_radians\": -1.5836510334798024,\n      \"speed\": 2.836416379724672,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.5858741976067081,\n      \"speed\": 2.825630244947347,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \ \"yaw_radians\": -1.5898833628141407,\n      \"speed\": 2.8101251762049433,\n\
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  yaw_radians\": -1.5951810567585167,\n      \"speed\": 2.803383841969114,\n     \
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  \ \"yaw_radians\": -1.599045430009108,\n      \"speed\": 2.7969795744450776,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  \   {\n      \"timestamp\": 1769206886.6648462,\n      \"lon\": -121.989232447478,\n\
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  yaw_radians\": -1.6013047401079836,\n      \"speed\": 2.7993390414276176,\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\": 1769206887.0647898,\n      \"lon\": -121.98923258327231,\n\
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  yaw_radians\": -1.6055448591258537,\n      \"speed\": 2.8000131748512005,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.6068672660245864,\n      \"speed\": 2.805406242239863,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
  \ \"lane\"\n    },\n    {\n      \"timestamp\": 1769206887.4057117,\n      \"lon\"\
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  \   {\n      \"timestamp\": 1769206887.4448957,\n      \"lon\": -121.9892328210911,\n\
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  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \   {\n      \"timestamp\": 1769206887.8649514,\n      \"lon\": -121.98923308599532,\n\
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  \ \"yaw_radians\": -1.6057544803786412,\n      \"speed\": 2.808439842645986,\n \
  \     \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\":\
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  yaw_radians\": -1.6051385702732186,\n      \"speed\": 2.8111363763403165,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
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  \ \"yaw_radians\": -1.5712343308752375,\n      \"speed\": 1.42275859047152,\n  \
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  \ \"yaw_radians\": -1.56722542912835,\n      \"speed\": 1.2565847015583573,\n  \
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  yaw_radians\": -1.570039729720518,\n      \"speed\": 1.0502998739420177,\n     \
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  \ \"yaw_radians\": -1.570221986596133,\n      \"speed\": 1.0290646710991591,\n \
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  \ \"yaw_radians\": -1.5698477473963592,\n      \"speed\": 0.9309782579678603,\n\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206891.90381,\n      \"lon\": -121.98923336437622,\n\
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  yaw_radians\": -1.5701030814333605,\n      \"speed\": 0.878395850928401,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206891.9438496,\n      \"lon\": -121.98923336431156,\n\
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  \ \"yaw_radians\": -1.5702668493890748,\n      \"speed\": 0.8504193138497145,\n\
  \      \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\"\
  : \"lane\"\n    },\n    {\n      \"timestamp\": 1769206891.983959,\n      \"lon\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206892.0039964,\n      \"lon\": -121.98923336433856,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206892.0241477,\n\
  \      \"lon\": -121.98923336437812,\n      \"lat\": 37.376783044590965,\n     \
  \ \"yaw_radians\": -1.5704980415680982,\n      \"speed\": 0.7870507720329302,\n\
  \      \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\"\
  : \"lane\"\n    },\n    {\n      \"timestamp\": 1769206892.0440445,\n      \"lon\"\
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  : \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\n    },\n \
  \   {\n      \"timestamp\": 1769206892.0643733,\n      \"lon\": -121.9892333644942,\n\
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  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206892.0839558,\n\
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  yaw_radians\": -1.5707113885027284,\n      \"speed\": 0.7196374296746494,\n    \
  \  \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"\
  lane\"\n    },\n    {\n      \"timestamp\": 1769206892.1038222,\n      \"lon\":\
  \ -121.9892333646485,\n      \"lat\": 37.376782486559,\n      \"yaw_radians\": -1.570778367750239,\n\
  \      \"speed\": 0.7095254283209071,\n      \"segment_id\": \"driving_segment_parking_lot\"\
  ,\n      \"segment_type\": \"lane\"\n    },\n    {\n      \"timestamp\": 1769206892.1242466,\n\
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  yaw_radians\": -1.5708462263014307,\n      \"speed\": 0.685930758495509,\n     \
  \ \"segment_id\": \"driving_segment_parking_lot\",\n      \"segment_type\": \"lane\"\
  \n    },\n    {\n      \"timestamp\": 1769206892.2242465,\n      \"lon\": -121.98923163269492,\n\
  \      \"lat\": 37.376781116218034,\n      \"yaw_radians\": -1.5457542154674135,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.2441983,\n\
  \      \"lon\": -121.98923163269492,\n      \"lat\": 37.376781116218034,\n     \
  \ \"yaw_radians\": -1.5457542154674135,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.2641845,\n      \"lon\": -121.98923163269492,\n\
  \      \"lat\": 37.376781116218034,\n      \"yaw_radians\": -1.5457542154674135,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.2842243,\n\
  \      \"lon\": -121.98923163269492,\n      \"lat\": 37.376781116218034,\n     \
  \ \"yaw_radians\": -1.5457542154674135,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.3044114,\n      \"lon\": -121.98923163269492,\n\
  \      \"lat\": 37.376781116218034,\n      \"yaw_radians\": -1.5457542154674135,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.3242438,\n\
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  yaw_radians\": -1.5458988344727727,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.34421,\n      \"lon\": -121.98923163020753,\n\
  \      \"lat\": 37.37678111588572,\n      \"yaw_radians\": -1.5458988344727727,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.3641634,\n\
  \      \"lon\": -121.98923163020753,\n      \"lat\": 37.37678111588572,\n      \"\
  yaw_radians\": -1.5458988344727727,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.384196,\n      \"lon\": -121.98923163020753,\n\
  \      \"lat\": 37.37678111588572,\n      \"yaw_radians\": -1.5458988344727727,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.4044201,\n\
  \      \"lon\": -121.98923163020753,\n      \"lat\": 37.37678111588572,\n      \"\
  yaw_radians\": -1.5458988344727727,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.4241822,\n      \"lon\": -121.98923162772608,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.4441717,\n\
  \      \"lon\": -121.98923162772608,\n      \"lat\": 37.37678111473509,\n      \"\
  yaw_radians\": -1.5460436558290178,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.4641874,\n      \"lon\": -121.98923162772608,\n\
  \      \"lat\": 37.37678111473509,\n      \"yaw_radians\": -1.5460436558290178,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.4842553,\n\
  \      \"lon\": -121.98923162772608,\n      \"lat\": 37.37678111473509,\n      \"\
  yaw_radians\": -1.5460436558290178,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.5044405,\n      \"lon\": -121.98923162772608,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206892.5242178,\n\
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  yaw_radians\": -1.5461891493030642,\n      \"speed\": 0,\n      \"segment_id\":\
  \ \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206892.5441697,\n      \"lon\": -121.98923162484364,\n\
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  \      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\
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  \      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1769206892.624294,\n      \"lon\": -121.98923161606444,\n\
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  \      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1769206892.6644814,\n      \"lon\": -121.98923161277521,\n\
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  \      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1769206892.7442534,\n      \"lon\": -121.98923160104306,\n\
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  \n    },\n    {\n      \"timestamp\": 1769206892.7844744,\n      \"lon\": -121.98923159525793,\n\
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  \n    },\n    {\n      \"timestamp\": 1769206892.8245196,\n      \"lon\": -121.98923158764873,\n\
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  \      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1769206892.8645458,\n      \"lon\": -121.98923158115679,\n\
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  \      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1769206892.9045851,\n      \"lon\": -121.98923157423971,\n\
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  : 1769206892.9245894,\n      \"lon\": -121.98923156932983,\n      \"lat\": 37.3767794474657,\n\
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  \      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1769206892.9443064,\n      \"lon\": -121.98923156569619,\n\
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  \n    },\n    {\n      \"timestamp\": 1769206892.9846447,\n      \"lon\": -121.9892315578104,\n\
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  \    {\n      \"timestamp\": 1769206920.057136,\n      \"lon\": -121.98958732704999,\n\
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  yaw_radians\": 1.5871665340377392,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206920.0971482,\n      \"lon\": -121.98958732761254,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.117134,\n\
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  yaw_radians\": 1.5871020251956927,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206920.137049,\n      \"lon\": -121.98958733356946,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.1571622,\n\
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  yaw_radians\": 1.5871020251956927,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.1774092,\n      \"lon\": -121.98958733356946,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.19738,\n\
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  yaw_radians\": 1.5871020251956927,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.2171984,\n      \"lon\": -121.98958734412945,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.2375352,\n\
  \      \"lon\": -121.98958734412945,\n      \"lat\": 37.376739271047114,\n     \
  \ \"yaw_radians\": 1.5874894962714936,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206920.2571397,\n      \"lon\": -121.98958734412945,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.2772052,\n\
  \      \"lon\": -121.98958734412945,\n      \"lat\": 37.376739271047114,\n     \
  \ \"yaw_radians\": 1.5874894962714936,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206920.2975314,\n      \"lon\": -121.98958734412945,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.3172512,\n\
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  yaw_radians\": 1.587810698931089,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.337618,\n      \"lon\": -121.9895873531023,\n\
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  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.3573012,\n\
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  yaw_radians\": 1.587810698931089,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206920.3771777,\n      \"lon\": -121.9895873531023,\n\
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  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.3973746,\n\
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  yaw_radians\": 1.587810698931089,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206920.417147,\n      \"lon\": -121.9895873531023,\n\
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  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
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  yaw_radians\": 1.588097123156715,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.4571893,\n      \"lon\": -121.98958736139326,\n\
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  yaw_radians\": 1.588097123156715,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.497171,\n      \"lon\": -121.98958736139326,\n\
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  yaw_radians\": 1.5883476998057595,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.537111,\n      \"lon\": -121.98958736891049,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.5574932,\n\
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  yaw_radians\": 1.5883476998057595,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.577106,\n      \"lon\": -121.98958736891049,\n\
  \      \"lat\": 37.37673921270747,\n      \"yaw_radians\": 1.5883476998057595,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.5975218,\n\
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  yaw_radians\": 1.5883476998057595,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.6171284,\n      \"lon\": -121.9895873764771,\n\
  \      \"lat\": 37.37673919851846,\n      \"yaw_radians\": 1.588591274759295,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.6371377,\n\
  \      \"lon\": -121.9895873764771,\n      \"lat\": 37.37673919851846,\n      \"\
  yaw_radians\": 1.588591274759295,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206920.6571348,\n      \"lon\": -121.9895873764771,\n\
  \      \"lat\": 37.37673919851846,\n      \"yaw_radians\": 1.588591274759295,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.6775136,\n\
  \      \"lon\": -121.9895873764771,\n      \"lat\": 37.37673919851846,\n      \"\
  yaw_radians\": 1.588591274759295,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206920.6971295,\n      \"lon\": -121.9895873764771,\n\
  \      \"lat\": 37.37673919851846,\n      \"yaw_radians\": 1.588591274759295,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.7175276,\n\
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  yaw_radians\": 1.5888149169848,\n      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1769206920.737099,\n      \"lon\": -121.9895873836044,\n      \"lat\": 37.376739185904405,\n\
  \      \"yaw_radians\": 1.5888149169848,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206920.7574966,\n      \"lon\": -121.9895873836044,\n\
  \      \"lat\": 37.376739185904405,\n      \"yaw_radians\": 1.5888149169848,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.777129,\n\
  \      \"lon\": -121.9895873836044,\n      \"lat\": 37.376739185904405,\n      \"\
  yaw_radians\": 1.5888149169848,\n      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1769206920.7965913,\n      \"lon\": -121.9895873836044,\n      \"lat\": 37.376739185904405,\n\
  \      \"yaw_radians\": 1.5888149169848,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206920.817142,\n      \"lon\": -121.98958739023425,\n\
  \      \"lat\": 37.376739174797564,\n      \"yaw_radians\": 1.589017392065778,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.837113,\n\
  \      \"lon\": -121.98958739023425,\n      \"lat\": 37.376739174797564,\n     \
  \ \"yaw_radians\": 1.589017392065778,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206920.8571107,\n      \"lon\": -121.98958739023425,\n\
  \      \"lat\": 37.376739174797564,\n      \"yaw_radians\": 1.589017392065778,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.876541,\n\
  \      \"lon\": -121.98958739023425,\n      \"lat\": 37.376739174797564,\n     \
  \ \"yaw_radians\": 1.589017392065778,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206920.8970985,\n      \"lon\": -121.98958739023425,\n\
  \      \"lat\": 37.376739174797564,\n      \"yaw_radians\": 1.589017392065778,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.9168067,\n\
  \      \"lon\": -121.98958739641817,\n      \"lat\": 37.3767391650564,\n      \"\
  yaw_radians\": 1.5892008887255866,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.9370863,\n      \"lon\": -121.98958739641817,\n\
  \      \"lat\": 37.3767391650564,\n      \"yaw_radians\": 1.5892008887255866,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.9565911,\n\
  \      \"lon\": -121.98958739641817,\n      \"lat\": 37.3767391650564,\n      \"\
  yaw_radians\": 1.5892008887255866,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206920.9771392,\n      \"lon\": -121.98958739641817,\n\
  \      \"lat\": 37.3767391650564,\n      \"yaw_radians\": 1.5892008887255866,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206920.9965577,\n\
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  yaw_radians\": 1.5892008887255866,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.0171213,\n      \"lon\": -121.98958740249392,\n\
  \      \"lat\": 37.376739156136104,\n      \"yaw_radians\": 1.5893771416079077,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.0370646,\n\
  \      \"lon\": -121.98958740249392,\n      \"lat\": 37.376739156136104,\n     \
  \ \"yaw_radians\": 1.5893771416079077,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206921.057135,\n      \"lon\": -121.98958740249392,\n\
  \      \"lat\": 37.376739156136104,\n      \"yaw_radians\": 1.5893771416079077,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.0765462,\n\
  \      \"lon\": -121.98958740249392,\n      \"lat\": 37.376739156136104,\n     \
  \ \"yaw_radians\": 1.5893771416079077,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206921.0970917,\n      \"lon\": -121.98958740249392,\n\
  \      \"lat\": 37.376739156136104,\n      \"yaw_radians\": 1.5893771416079077,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.1166317,\n\
  \      \"lon\": -121.98958740787201,\n      \"lat\": 37.37673914805009,\n      \"\
  yaw_radians\": 1.589529366498424,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.1370633,\n      \"lon\": -121.98958740787201,\n\
  \      \"lat\": 37.37673914805009,\n      \"yaw_radians\": 1.589529366498424,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.156537,\n\
  \      \"lon\": -121.98958740787201,\n      \"lat\": 37.37673914805009,\n      \"\
  yaw_radians\": 1.589529366498424,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.17714,\n      \"lon\": -121.98958740787201,\n\
  \      \"lat\": 37.37673914805009,\n      \"yaw_radians\": 1.589529366498424,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.1966083,\n\
  \      \"lon\": -121.98958740787201,\n      \"lat\": 37.37673914805009,\n      \"\
  yaw_radians\": 1.589529366498424,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.2170708,\n      \"lon\": -121.9895874131823,\n\
  \      \"lat\": 37.376739140231905,\n      \"yaw_radians\": 1.5896776483619592,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.237579,\n\
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  yaw_radians\": 1.5896776483619592,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.2570899,\n      \"lon\": -121.9895874131823,\n\
  \      \"lat\": 37.376739140231905,\n      \"yaw_radians\": 1.5896776483619592,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.276603,\n\
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  yaw_radians\": 1.5896776483619592,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.297179,\n      \"lon\": -121.9895874131823,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.316632,\n\
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  yaw_radians\": 1.5898079476771811,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.3372064,\n      \"lon\": -121.9895874179192,\n\
  \      \"lat\": 37.3767391326125,\n      \"yaw_radians\": 1.5898079476771811,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.356705,\n\
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  yaw_radians\": 1.5898079476771811,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.3772588,\n      \"lon\": -121.9895874179192,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.3967474,\n\
  \      \"lon\": -121.9895874179192,\n      \"lat\": 37.3767391326125,\n      \"\
  yaw_radians\": 1.5898079476771811,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.4169095,\n      \"lon\": -121.9895874225991,\n\
  \      \"lat\": 37.37673912526438,\n      \"yaw_radians\": 1.58993478239462,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.4371948,\n\
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  yaw_radians\": 1.58993478239462,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.4567094,\n      \"lon\": -121.9895874225991,\n\
  \      \"lat\": 37.37673912526438,\n      \"yaw_radians\": 1.58993478239462,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.4766405,\n\
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  yaw_radians\": 1.58993478239462,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.4971845,\n      \"lon\": -121.9895874225991,\n\
  \      \"lat\": 37.37673912526438,\n      \"yaw_radians\": 1.58993478239462,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.516762,\n\
  \      \"lon\": -121.98958742690229,\n      \"lat\": 37.376739118472855,\n     \
  \ \"yaw_radians\": 1.5900482409895162,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206921.5371666,\n      \"lon\": -121.98958742690229,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.5567112,\n\
  \      \"lon\": -121.98958742690229,\n      \"lat\": 37.376739118472855,\n     \
  \ \"yaw_radians\": 1.5900482409895162,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206921.5771565,\n      \"lon\": -121.98958742690229,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.5967422,\n\
  \      \"lon\": -121.98958742690229,\n      \"lat\": 37.376739118472855,\n     \
  \ \"yaw_radians\": 1.5900482409895162,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206921.6168113,\n      \"lon\": -121.98958743104542,\n\
  \      \"lat\": 37.376739112002035,\n      \"yaw_radians\": 1.59015532656124,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.637141,\n\
  \      \"lon\": -121.98958743104542,\n      \"lat\": 37.376739112002035,\n     \
  \ \"yaw_radians\": 1.59015532656124,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206921.6567106,\n      \"lon\": -121.98958743104542,\n\
  \      \"lat\": 37.376739112002035,\n      \"yaw_radians\": 1.59015532656124,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.6766472,\n\
  \      \"lon\": -121.98958743104542,\n      \"lat\": 37.376739112002035,\n     \
  \ \"yaw_radians\": 1.59015532656124,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206921.697131,\n      \"lon\": -121.98958743104542,\n\
  \      \"lat\": 37.376739112002035,\n      \"yaw_radians\": 1.59015532656124,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.7167788,\n\
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  yaw_radians\": 1.590249680463786,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206921.7366974,\n      \"lon\": -121.98958743477924,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.7568054,\n\
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  yaw_radians\": 1.590249680463786,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206921.776731,\n      \"lon\": -121.98958743477924,\n\
  \      \"lat\": 37.37673910569406,\n      \"yaw_radians\": 1.590249680463786,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.7967846,\n\
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  yaw_radians\": 1.590249680463786,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206921.8166957,\n      \"lon\": -121.98958743842952,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.8376515,\n\
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  yaw_radians\": 1.5903401783758784,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206921.85672,\n      \"lon\": -121.98958743842952,\n\
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  yaw_radians\": 1.5903401783758784,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206921.8967266,\n      \"lon\": -121.98958743842952,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.9169528,\n\
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  yaw_radians\": 1.590431270003288,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206921.9368577,\n      \"lon\": -121.98958744213772,\n\
  \      \"lat\": 37.37673909370422,\n      \"yaw_radians\": 1.590431270003288,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.9568632,\n\
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  yaw_radians\": 1.590431270003288,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206921.9768198,\n      \"lon\": -121.98958744213772,\n\
  \      \"lat\": 37.37673909370422,\n      \"yaw_radians\": 1.590431270003288,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206921.9966865,\n\
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  yaw_radians\": 1.590431270003288,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.0166938,\n      \"lon\": -121.98958744547735,\n\
  \      \"lat\": 37.376739088081635,\n      \"yaw_radians\": 1.590510492511925,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.0366855,\n\
  \      \"lon\": -121.98958744547735,\n      \"lat\": 37.376739088081635,\n     \
  \ \"yaw_radians\": 1.590510492511925,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.0567012,\n      \"lon\": -121.98958744547735,\n\
  \      \"lat\": 37.376739088081635,\n      \"yaw_radians\": 1.590510492511925,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.076711,\n\
  \      \"lon\": -121.98958744547735,\n      \"lat\": 37.376739088081635,\n     \
  \ \"yaw_radians\": 1.590510492511925,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.0967388,\n      \"lon\": -121.98958744547735,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.1169434,\n\
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  yaw_radians\": 1.5905867537293086,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.1368222,\n      \"lon\": -121.98958744876569,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.1567812,\n\
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  yaw_radians\": 1.5905867537293086,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.1768308,\n      \"lon\": -121.98958744876569,\n\
  \      \"lat\": 37.37673908275831,\n      \"yaw_radians\": 1.5905867537293086,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.1968532,\n\
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  yaw_radians\": 1.5905867537293086,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.2168548,\n      \"lon\": -121.98958745181274,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.2368152,\n\
  \      \"lon\": -121.98958745181274,\n      \"lat\": 37.376739077546304,\n     \
  \ \"yaw_radians\": 1.590655499993865,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.2568426,\n      \"lon\": -121.98958745181274,\n\
  \      \"lat\": 37.376739077546304,\n      \"yaw_radians\": 1.590655499993865,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.2769587,\n\
  \      \"lon\": -121.98958745181274,\n      \"lat\": 37.376739077546304,\n     \
  \ \"yaw_radians\": 1.590655499993865,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.29677,\n      \"lon\": -121.98958745181274,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.3166914,\n\
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  yaw_radians\": 1.5907214898701614,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.336863,\n      \"lon\": -121.98958745479239,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.3566265,\n\
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  yaw_radians\": 1.5907214898701614,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.3766625,\n      \"lon\": -121.98958745479239,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.3968601,\n\
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  yaw_radians\": 1.5907214898701614,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.41692,\n      \"lon\": -121.98958745774374,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.4372263,\n\
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  yaw_radians\": 1.5907859016941717,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.456677,\n      \"lon\": -121.98958745774374,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.476784,\n\
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  yaw_radians\": 1.5907859016941717,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.496905,\n      \"lon\": -121.98958745774374,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.5167503,\n\
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  yaw_radians\": 1.5908428052246435,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.5366776,\n      \"lon\": -121.98958746045287,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.5566955,\n\
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  yaw_radians\": 1.5908428052246435,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.5767367,\n      \"lon\": -121.98958746045287,\n\
  \      \"lat\": 37.37673906266858,\n      \"yaw_radians\": 1.5908428052246435,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.5967364,\n\
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  yaw_radians\": 1.5908428052246435,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206922.616795,\n      \"lon\": -121.98958746363141,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.6368036,\n\
  \      \"lon\": -121.98958746363141,\n      \"lat\": 37.376739057448205,\n     \
  \ \"yaw_radians\": 1.5909132904449739,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.6568227,\n      \"lon\": -121.98958746363141,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.6768045,\n\
  \      \"lon\": -121.98958746363141,\n      \"lat\": 37.376739057448205,\n     \
  \ \"yaw_radians\": 1.5909132904449739,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.6968467,\n      \"lon\": -121.98958746363141,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.7167065,\n\
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  \ \"yaw_radians\": 1.5909716476065798,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.7368448,\n      \"lon\": -121.98958746640957,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.756876,\n\
  \      \"lon\": -121.98958746640957,\n      \"lat\": 37.376739052493285,\n     \
  \ \"yaw_radians\": 1.5909716476065798,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.7769017,\n      \"lon\": -121.98958746640957,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206922.796907,\n\
  \      \"lon\": -121.98958746640957,\n      \"lat\": 37.376739052493285,\n     \
  \ \"yaw_radians\": 1.5909716476065798,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206922.816841,\n      \"lon\": -121.9895874690681,\n\
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  yaw_radians\": 1.5910256821619781,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.8569665,\n      \"lon\": -121.9895874690681,\n\
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  yaw_radians\": 1.5910256821619781,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.8970282,\n      \"lon\": -121.9895874690681,\n\
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  yaw_radians\": 1.5910786688235483,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206922.9370897,\n      \"lon\": -121.9895874717186,\n\
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  \  {\n      \"timestamp\": 1769206922.9763083,\n      \"lon\": -121.9895874717186,\n\
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  yaw_radians\": 1.5910786688235483,\n      \"speed\": 0,\n      \"segment_id\": \"\
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  \  {\n      \"timestamp\": 1769206923.016684,\n      \"lon\": -121.98958747429016,\n\
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  \  {\n      \"timestamp\": 1769206923.1766574,\n      \"lon\": -121.98958747668814,\n\
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  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.1966796,\n\
  \      \"lon\": -121.98958747668814,\n      \"lat\": 37.37673903474016,\n      \"\
  yaw_radians\": 1.5911723221937624,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.2167306,\n      \"lon\": -121.98958747895328,\n\
  \      \"lat\": 37.37673903072894,\n      \"yaw_radians\": 1.5912122160294624,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.236742,\n\
  \      \"lon\": -121.98958747895328,\n      \"lat\": 37.37673903072894,\n      \"\
  yaw_radians\": 1.5912122160294624,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.2566845,\n      \"lon\": -121.98958747895328,\n\
  \      \"lat\": 37.37673903072894,\n      \"yaw_radians\": 1.5912122160294624,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.2766495,\n\
  \      \"lon\": -121.98958747895328,\n      \"lat\": 37.37673903072894,\n      \"\
  yaw_radians\": 1.5912122160294624,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.296624,\n      \"lon\": -121.98958747895328,\n\
  \      \"lat\": 37.37673903072894,\n      \"yaw_radians\": 1.5912122160294624,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.316657,\n\
  \      \"lon\": -121.98958748114522,\n      \"lat\": 37.37673902673662,\n      \"\
  yaw_radians\": 1.5912498484416566,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.3365824,\n      \"lon\": -121.98958748114522,\n\
  \      \"lat\": 37.37673902673662,\n      \"yaw_radians\": 1.5912498484416566,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.3565848,\n\
  \      \"lon\": -121.98958748114522,\n      \"lat\": 37.37673902673662,\n      \"\
  yaw_radians\": 1.5912498484416566,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.3765652,\n      \"lon\": -121.98958748114522,\n\
  \      \"lat\": 37.37673902673662,\n      \"yaw_radians\": 1.5912498484416566,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.3965802,\n\
  \      \"lon\": -121.98958748114522,\n      \"lat\": 37.37673902673662,\n      \"\
  yaw_radians\": 1.5912498484416566,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.416583,\n      \"lon\": -121.98958748325225,\n\
  \      \"lat\": 37.3767390229868,\n      \"yaw_radians\": 1.591284225144238,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.4365516,\n\
  \      \"lon\": -121.98958748325225,\n      \"lat\": 37.3767390229868,\n      \"\
  yaw_radians\": 1.591284225144238,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.456684,\n      \"lon\": -121.98958748325225,\n\
  \      \"lat\": 37.3767390229868,\n      \"yaw_radians\": 1.591284225144238,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.4764996,\n\
  \      \"lon\": -121.98958748325225,\n      \"lat\": 37.3767390229868,\n      \"\
  yaw_radians\": 1.591284225144238,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.4966109,\n      \"lon\": -121.98958748325225,\n\
  \      \"lat\": 37.3767390229868,\n      \"yaw_radians\": 1.591284225144238,\n \
  \     \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.5165324,\n\
  \      \"lon\": -121.98958748541017,\n      \"lat\": 37.37673901932312,\n      \"\
  yaw_radians\": 1.5913194298345408,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.536615,\n      \"lon\": -121.98958748541017,\n\
  \      \"lat\": 37.37673901932312,\n      \"yaw_radians\": 1.5913194298345408,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.5565991,\n\
  \      \"lon\": -121.98958748541017,\n      \"lat\": 37.37673901932312,\n      \"\
  yaw_radians\": 1.5913194298345408,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.5766563,\n      \"lon\": -121.98958748541017,\n\
  \      \"lat\": 37.37673901932312,\n      \"yaw_radians\": 1.5913194298345408,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.5966887,\n\
  \      \"lon\": -121.98958748541017,\n      \"lat\": 37.37673901932312,\n      \"\
  yaw_radians\": 1.5913194298345408,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.6167119,\n      \"lon\": -121.98958748770703,\n\
  \      \"lat\": 37.37673901571108,\n      \"yaw_radians\": 1.5913578613554238,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.6366332,\n\
  \      \"lon\": -121.98958748770703,\n      \"lat\": 37.37673901571108,\n      \"\
  yaw_radians\": 1.5913578613554238,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.6565807,\n      \"lon\": -121.98958748770703,\n\
  \      \"lat\": 37.37673901571108,\n      \"yaw_radians\": 1.5913578613554238,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.6764524,\n\
  \      \"lon\": -121.98958748770703,\n      \"lat\": 37.37673901571108,\n      \"\
  yaw_radians\": 1.5913578613554238,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.6965427,\n      \"lon\": -121.98958748770703,\n\
  \      \"lat\": 37.37673901571108,\n      \"yaw_radians\": 1.5913578613554238,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.71663,\n\
  \      \"lon\": -121.98958748990694,\n      \"lat\": 37.37673901208268,\n      \"\
  yaw_radians\": 1.5913935649756317,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.7366557,\n      \"lon\": -121.98958748990694,\n\
  \      \"lat\": 37.37673901208268,\n      \"yaw_radians\": 1.5913935649756317,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.7568038,\n\
  \      \"lon\": -121.98958748990694,\n      \"lat\": 37.37673901208268,\n      \"\
  yaw_radians\": 1.5913935649756317,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.7764847,\n      \"lon\": -121.98958748990694,\n\
  \      \"lat\": 37.37673901208268,\n      \"yaw_radians\": 1.5913935649756317,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.7963996,\n\
  \      \"lon\": -121.98958748990694,\n      \"lat\": 37.37673901208268,\n      \"\
  yaw_radians\": 1.5913935649756317,\n      \"speed\": 0,\n      \"segment_id\": \"\
  parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n  \
  \  {\n      \"timestamp\": 1769206923.8165617,\n      \"lon\": -121.98958749224003,\n\
  \      \"lat\": 37.376739008406155,\n      \"yaw_radians\": 1.591432634628326,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.8365948,\n\
  \      \"lon\": -121.98958749224003,\n      \"lat\": 37.376739008406155,\n     \
  \ \"yaw_radians\": 1.591432634628326,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206923.8566723,\n      \"lon\": -121.98958749224003,\n\
  \      \"lat\": 37.376739008406155,\n      \"yaw_radians\": 1.591432634628326,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1769206923.8765295,\n\
  \      \"lon\": -121.98958749224003,\n      \"lat\": 37.376739008406155,\n     \
  \ \"yaw_radians\": 1.591432634628326,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"parking_segment_b2\",\n      \"segment_type\": \"parking_entrance\"\n    },\n\
  \    {\n      \"timestamp\": 1769206923.8964467,\n      \"lon\": -121.98958749224003,\n\
  \      \"lat\": 37.376739008406155,\n      \"yaw_radians\": 1.591432634628326,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"parking_segment_b2\",\n      \"segment_type\"\
  : \"parking_entrance\"\n    }\n  ]\n}"
run_id: 304a5ca4-0096-11f1-adce-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_checker:
    base:
      length: 3.8
      short_circuit: true
      skip: 2
      width: 1.79
    defaults:
      length_scale: 1.0
      planning_horizon: 30.0
      width_scale: 1.0
    overrides:
      Approach.dab:
        width_scale: 1.3
      Approach.person:
        width_scale: 2.0
      Approach.vehicle:
        width_scale: 3.0
      RSU.dab:
        enabled: false
      RSU.person:
        enabled: false
      RSU.vehicle:
        enabled: false
      Scooch.dab:
        width_scale: 0.54
      Scooch.person:
        width_scale: 3.0
      Scooch.vehicle:
        width_scale: 1.5
    types:
      dab:
        width_scale: 1.3
      person:
        width_scale: 1.5
      vehicle:
        width_scale: 2.0
    visualization:
      boundary:
        include_rear: true
        rear_collision_color:
        - 0.5
        - 0.5
        - 0.5
        - 1.0
        rear_color:
        - 0.5
        - 0.5
        - 0.5
        - 1.0
      collision_points:
        dab_point_size: 0.1
        object_sphere_size: 0.3
      colors:
        dab:
          boundary:
          - 0.969
          - 0.875
          - 0.443
          - 1.0
          boundary_collision:
          - 0.969
          - 0.875
          - 0.443
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 1.0
          - 1.0
          - 0.0
          - 0.3
        person:
          boundary:
          - 0.361
          - 0.839
          - 0.663
          - 1.0
          boundary_collision:
          - 0.361
          - 0.839
          - 0.663
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 1.0
          - 0.5
          - 0.0
          - 0.3
        vehicle:
          boundary:
          - 0.38
          - 0.796
          - 1.0
          - 1.0
          boundary_collision:
          - 0.38
          - 0.796
          - 1.0
          - 1.0
          collision:
          - 1.0
          - 0.0
          - 0.0
          - 0.5
          normal:
          - 0.5
          - 0.0
          - 1.0
          - 0.3
  collision_points_topic: ~collision_points
  dab_filter:
    min_x: 0.0
  debug: true
  debug_topics:
    speed_dist: ~debug/speed_plan/dist
    speed_input: ~debug/speed_plan/input_speed
    speed_output: ~debug/speed_plan/output_speed
  default_mode: Scooch
  frames:
    collision_check: car
    visualization: site
  input_path_viz_topic: ~input_path_viz
  input_traj_topic: ~input_traj
  min_arrow_length: 0.3
  mode_topic: /ss_mode_1
  modes:
    Approach:
      collision_check_skip: 2
      deceleration: 1.5
      description: Standard approach - wider safety margins
      forward_margin: 3.8
      mode_num: 1
      safety_margin: 1.2
      stopping_distance: 2.0
    Disabled:
      collision_check_skip: 1
      deceleration: .nan
      description: Pure passthrough - no collision checking
      forward_margin: .nan
      mode_num: -1
      safety_margin: .nan
      stopping_distance: .nan
    RSU:
      description: RSU mode - object detection only
      mode_num: 0
    Scooch:
      collision_check_skip: 2
      deceleration: 2.0
      description: Tight maneuvering - narrower margins
      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
  node_name: safety_shield
  object_filter:
    label_ids:
      person:
      - 0
      vehicle:
      - 1
      - 2
    labels:
      person:
      - Person
      vehicle:
      - Vehicle
      - Car
    min_confidence:
      person: 0.5
      vehicle: 0.5
    min_x:
      person: 0.0
      vehicle: 3.5
  output_path_viz_topic: ~output_path_viz
  output_traj_topic: /vehicle_trajectory_control
  rect_markers_topic: ~collision_rects
  site_frame: site
  speed_profile:
    defaults:
      deceleration: 1.5
      stopping_distance: 2.0
    overrides:
      Approach.dab:
        stopping_distance: 3.0
      Approach.person:
        stopping_distance: 4.0
      Approach.vehicle:
        stopping_distance: 5.0
      Scooch:
        deceleration: 2.0
      Scooch.dab:
        stopping_distance: 1.0
      Scooch.person:
        stopping_distance: 2.0
      Scooch.vehicle:
        stopping_distance: 0.2
    types:
      dab:
        stopping_distance: 1.0
      person:
        stopping_distance: 2.0
      vehicle:
        stopping_distance: 3.0
  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
  topics:
    boundary: /obstacle/dab
    object_detection: /zed2i/zed_node/obj_det/objects
    trajectory_input: /recorded_vehicle_trajectory
    trajectory_output: /vehicle_trajectory_control
  trajectory_input_topic: /recorded_vehicle_trajectory
  trajectory_visualization:
    arrow_head_length: 0.2
    arrow_head_width: 0.3
    arrow_shaft_width: 0.1
    arrow_skip: 5
    arrow_speed_scale: 0.5
    min_arrow_length: 0.3
    moving_color:
    - 0.0
    - 1.0
    - 0.0
    - 1.0
    stopped_color:
    - 1.0
    - 0.0
    - 0.0
    - 1.0
    stopped_speed_threshold: 0.01
  visualization_topics:
    input_path: ~trajectory/input
    object_collisions: ~object_collisions
    output_path: ~output_path_viz
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-IPOD07\"\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-IPOD07\"\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-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_4\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.37730890353769,\n          \"lon\": -121.98887430086172\n\
  \        },\n        {\n          \"lat\": 37.37730792741043,\n          \"lon\"\
  : -121.98855865880043\n        },\n        {\n          \"lat\": 37.377271344035954,\n\
  \          \"lon\": -121.98855359392377\n        },\n        {\n          \"lat\"\
  : 37.37727736869387,\n          \"lon\": -121.98887365809334\n        },\n     \
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  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.37720291771757,\n          \"lon\": -121.98936283126424\n       \
  \ },\n        {\n          \"lat\": 37.37720656223834,\n          \"lon\": -121.98924817410247\n\
  \        },\n        {\n          \"lat\": 37.37711787884402,\n          \"lon\"\
  : -121.98924664534039\n        },\n        {\n          \"lat\": 37.377120308527296,\n\
  \          \"lon\": -121.98935977373975\n        },\n        {\n          \"lat\"\
  : 37.37720291771757,\n          \"lon\": -121.98936283126424\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_35p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.3772045389552,\n          \"lon\": -121.98871484300386\n        },\n\
  \        {\n          \"lat\": 37.377193134480066,\n          \"lon\": -121.98852468619975\n\
  \        },\n        {\n          \"lat\": 37.37711401588591,\n          \"lon\"\
  : -121.98852289226775\n        },\n        {\n          \"lat\": 37.37711900534967,\n\
  \          \"lon\": -121.98871932783388\n        },\n        {\n          \"lat\"\
  : 37.3772045389552,\n          \"lon\": -121.98871484300386\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_33p\"\
  ,\n      \"search_type\": \"specific\",\n      \"search_type_categories\": [\n \
  \       \"pedestrian\"\n      ],\n      \"coordinates\": [\n        {\n        \
  \  \"lat\": 37.377208991919346,\n          \"lon\": -121.98924970286453\n      \
  \  },\n        {\n          \"lat\": 37.37720656223834,\n          \"lon\": -121.98898675577374\n\
  \        },\n        {\n          \"lat\": 37.37711666400233,\n          \"lon\"\
  : -121.98898522701165\n        },\n        {\n          \"lat\": 37.37711909368565,\n\
  \          \"lon\": -121.98924664534039\n        },\n        {\n          \"lat\"\
  : 37.377208991919346,\n          \"lon\": -121.98924970286453\n        }\n     \
  \ ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_34\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.37717816610399,\n      \
  \    \"lon\": -121.98871394603785\n        },\n        {\n          \"lat\": 37.37717317664489,\n\
  \          \"lon\": -121.9885282740642\n        },\n        {\n          \"lat\"\
  : 37.377143239881136,\n          \"lon\": -121.98852648013175\n        },\n    \
  \    {\n          \"lat\": 37.37715036768331,\n          \"lon\": -121.98871484300386\n\
  \        },\n        {\n          \"lat\": 37.37717816610399,\n          \"lon\"\
  : -121.98871394603785\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \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
  min_step_size_meters: 0.1
  min_step_speed_mps: 0.05
  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: false
      mc_electronics: false
      mc_fruit_vegetable: false
      mc_people: true
      mc_sport: false
      mc_vehicle: true
      model: MULTI_CLASS_BOX_ACCURATE
      object_tracking_enabled: false
      od_enabled: true
      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: false
      publish_tf: false
      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:
          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
    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
zed_object_viz:
  annotation_thickness: 2
  annotation_topic: /zed2i/image_annotations
  colors:
    '0':
    - 0.361
    - 0.839
    - 0.663
    - 0.8
    '1':
    - 0.38
    - 0.796
    - 1.0
    - 0.8
    '2':
    - 0.38
    - 0.796
    - 1.0
    - 0.8
    '3':
    - 1.0
    - 0.0
    - 1.0
    - 0.8
    '4':
    - 1.0
    - 0.5
    - 0.0
    - 0.8
    '5':
    - 0.5
    - 0.0
    - 0.5
    - 0.8
    '6':
    - 0.0
    - 0.5
    - 1.0
    - 0.8
    default:
    - 0.5
    - 0.5
    - 0.5
    - 0.8
  font_size: 12
  input_topic: /zed2i/zed_node/obj_det/objects
  line_width: 0.05
  marker_frame: zed2i_left_camera_optical_frame
  marker_lifetime: 0.5
  marker_topic: /zed2i/object_markers
  sphere_radius: 0.1
  text_background:
  - 0.0
  - 0.0
  - 0.0
  - 0.5
  text_color:
  - 1.0
  - 1.0
  - 1.0
  - 1.0
  text_size: 0.3
