agent_name: NRC_Leaf_Hotel
av_state_manager:
  log_level: info
  simulation_mode: false
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_Hotel
  data_save_path: /var/tmp
  fvla_component_type: vehicle
  fvla_service_jwt_password: nrc_leaf_hotel_pass
  fvla_service_jwt_username: NRC_Leaf_Hotel
  fvla_service_url: https://webapp.fvla.natcsv.com
  infrapod_id: ''
  log_level: info
  map_name: Franklin.set
  site_name: natcsv
  vehicle_id: NRC_Leaf_Hotel
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_diag_agg:
  log_level: error
hm_config_file: /root/projects/fvla-base/nrc_ws/src/health-monitor/HealthCheck/yaml/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
path_summary:
- multi_loop_route_start
- multi_loop_route_segment_1
- multi_loop_route_junction_1
- multi_loop_route_segment_2
- multi_loop_route_junction_2
- multi_loop_route_segment_3
- multi_loop_route_end
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/hotel.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  <!-- Hotel 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_blue.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=\"1.35237\
  \ -0.37012 1.41373\"/>\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=\"1.46701\
  \ 0.0 1.37294\"/>\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  <!-- 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=\"1.835 -0.06 -1.264\"/>\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_hotel_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_Hotel
  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_hotel_mist_halibut_ts_net__32959: http://hotel.mist-halibut.ts.net:32959/
    host_hotel_mist_halibut_ts_net__33149: http://hotel.mist-halibut.ts.net:33149/
    host_hotel_mist_halibut_ts_net__33395: http://hotel.mist-halibut.ts.net:33395/
    host_hotel_mist_halibut_ts_net__33771: http://hotel.mist-halibut.ts.net:33771/
    host_hotel_mist_halibut_ts_net__33775: http://hotel.mist-halibut.ts.net:33775/
    host_hotel_mist_halibut_ts_net__34529: http://hotel.mist-halibut.ts.net:34529/
    host_hotel_mist_halibut_ts_net__35985: http://hotel.mist-halibut.ts.net:35985/
    host_hotel_mist_halibut_ts_net__38111: http://hotel.mist-halibut.ts.net:38111/
    host_hotel_mist_halibut_ts_net__38447: http://hotel.mist-halibut.ts.net:38447/
    host_hotel_mist_halibut_ts_net__38505: http://hotel.mist-halibut.ts.net:38505/
    host_hotel_mist_halibut_ts_net__39769: http://hotel.mist-halibut.ts.net:39769/
    host_hotel_mist_halibut_ts_net__41891: http://hotel.mist-halibut.ts.net:41891/
    host_hotel_mist_halibut_ts_net__42695: http://hotel.mist-halibut.ts.net:42695/
    host_hotel_mist_halibut_ts_net__44255: http://hotel.mist-halibut.ts.net:44255/
    host_hotel_mist_halibut_ts_net__44693: http://hotel.mist-halibut.ts.net:44693/
rosversion: '1.17.0

  '
route_data_file: /var/tmp/route_data.json
route_data_json: "{\n  \"start_point\": {\n    \"lon\": -121.98935235971061,\n   \
  \ \"lat\": 37.377227228159256,\n    \"yaw\": 0.05125476664231597\n  },\n  \"start_junction\"\
  : {\n    \"_id\": \"698d6c52fc61bc6eb3b6063e\",\n    \"site_id\": \"natcsv\",\n\
  \    \"type\": \"start\",\n    \"lon\": -121.98936154770408,\n    \"lat\": 37.37722538759885,\n\
  \    \"id\": \"multi_loop_route_start\"\n  },\n  \"end_junction\": {\n    \"_id\"\
  : \"698d6c82fc61bc6eb3b60641\",\n    \"site_id\": \"natcsv\",\n    \"type\": \"\
  end\",\n    \"lon\": -121.98936194318152,\n    \"lat\": 37.37722635542068,\n   \
  \ \"id\": \"multi_loop_route_end\"\n  },\n  \"path_summary\": [\n    \"multi_loop_route_start\"\
  ,\n    \"multi_loop_route_segment_1\",\n    \"multi_loop_route_junction_1\",\n \
  \   \"multi_loop_route_segment_2\",\n    \"multi_loop_route_junction_2\",\n    \"\
  multi_loop_route_segment_3\",\n    \"multi_loop_route_end\"\n  ],\n  \"decision_points\"\
  : [\n    {\n      \"id\": \"dp_2\",\n      \"lat\": 37.3772965159508,\n      \"\
  lon\": -121.98898591470714,\n      \"type\": \"roi\",\n      \"roi_ids\": [\n  \
  \      \"multi_roi_route1_roi_4\",\n        \"multi_roi_route1_roi_25p\"\n     \
  \ ],\n      \"bay_id\": null\n    },\n    {\n      \"id\": \"dp-3\",\n      \"lat\"\
  : 37.37729377439837,\n      \"lon\": -121.98867046001723,\n      \"type\": \"roi\"\
  ,\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_5\",\n        \"multi_roi_route1_roi_24p\"\
  \n      ],\n      \"bay_id\": null\n    },\n    {\n      \"id\": \"dp-4\",\n   \
  \   \"lat\": 37.37729156698242,\n      \"lon\": -121.98850506215977,\n      \"type\"\
  : \"roi\",\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_6\",\n        \"\
  multi_roi_route1_roi_18\",\n        \"multi_roi_route1_roi_23p\"\n      ],\n   \
  \   \"bay_id\": null\n    },\n    {\n      \"id\": \"dp-5\",\n      \"lat\": 37.37727846892535,\n\
  \      \"lon\": -121.98838938284428,\n      \"type\": \"roi\",\n      \"roi_ids\"\
  : [\n        \"multi_roi_route1_roi_8p\",\n        \"multi_roi_route1_roi_19\",\n\
  \        \"multi_roi_route1_roi_22p\"\n      ],\n      \"bay_id\": null\n    },\n\
  \    {\n      \"id\": \"dp-6\",\n      \"lat\": 37.37719601826977,\n      \"lon\"\
  : -121.98833823831855,\n      \"type\": \"roi\",\n      \"roi_ids\": [\n       \
  \ \"multi_roi_route1_roi_7\",\n        \"multi_roi_route1_roi_35p\",\n        \"\
  multi_roi_route1_roi_34\"\n      ],\n      \"bay_id\": null\n    },\n    {\n   \
  \   \"id\": \"dp-7\",\n      \"lat\": 37.377164666444045,\n      \"lon\": -121.98860219095036,\n\
  \      \"type\": \"roi\",\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_17\"\
  ,\n        \"multi_roi_route1_roi_21p\"\n      ],\n      \"bay_id\": null\n    },\n\
  \    {\n      \"id\": \"dp-7\",\n      \"lat\": 37.377164666444045,\n      \"lon\"\
  : -121.98860219095036,\n      \"type\": \"roi\",\n      \"roi_ids\": [\n       \
  \ \"multi_roi_route1_roi_17\",\n        \"multi_roi_route1_roi_21p\"\n      ],\n\
  \      \"bay_id\": null\n    },\n    {\n      \"id\": \"dp-8\",\n      \"lat\":\
  \ 37.37716239813131,\n      \"lon\": -121.9888717574932,\n      \"type\": \"roi\"\
  ,\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_33p\"\n      ],\n      \"\
  bay_id\": null\n    },\n    {\n      \"id\": \"dp-9\",\n      \"lat\": 37.37715970934754,\n\
  \      \"lon\": -121.9891344359507,\n      \"type\": \"roi\",\n      \"roi_ids\"\
  : [\n        \"multi_roi_route1_roi_16\",\n        \"multi_roi_route1_roi_32p\"\n\
  \      ],\n      \"bay_id\": null\n    },\n    {\n      \"id\": \"dp-10\",\n   \
  \   \"lat\": 37.37715160863301,\n      \"lon\": -121.9894971582045,\n      \"type\"\
  : \"roi\",\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_12\",\n       \
  \ \"multi_roi_route1_roi_13\",\n        \"multi_roi_route1_roi_14\",\n        \"\
  multi_roi_route1_roi_30p\"\n      ],\n      \"bay_id\": null\n    },\n    {\n  \
  \    \"id\": \"dp-11\",\n      \"lat\": 37.377165593502674,\n      \"lon\": -121.98963270460077,\n\
  \      \"type\": \"roi\",\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_10\"\
  ,\n        \"multi_roi_route1_roi_11\",\n        \"multi_roi_route1_roi_29p\"\n\
  \      ],\n      \"bay_id\": null\n    },\n    {\n      \"id\": \"dp-12\",\n   \
  \   \"lat\": 37.37727256665163,\n      \"lon\": -121.98963825397603,\n      \"type\"\
  : \"roi\",\n      \"roi_ids\": [\n        \"multi_roi_route1_roi_1\",\n        \"\
  multi_roi_route1_roi_28p\"\n      ],\n      \"bay_id\": null\n    }\n  ],\n  \"\
  traj\": [\n    {\n      \"timestamp\": 1770755080.8710341,\n      \"lon\": -121.98936154770408,\n\
  \      \"lat\": 37.37722538759885,\n      \"yaw_radians\": -0.005540901758322351,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755080.891019,\n\
  \      \"lon\": -121.98936154770408,\n      \"lat\": 37.37722538759885,\n      \"\
  yaw_radians\": -0.005540901758322351,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755080.9110184,\n      \"lon\": -121.98936154770408,\n\
  \      \"lat\": 37.37722538759885,\n      \"yaw_radians\": -0.005540901758322351,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755080.9312682,\n\
  \      \"lon\": -121.98936154770408,\n      \"lat\": 37.37722538759885,\n      \"\
  yaw_radians\": -0.005540901758322351,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755080.9513166,\n      \"lon\": -121.98936154738645,\n\
  \      \"lat\": 37.37722538766298,\n      \"yaw_radians\": -0.005543681607393287,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755080.9712865,\n\
  \      \"lon\": -121.98936154738645,\n      \"lat\": 37.37722538766298,\n      \"\
  yaw_radians\": -0.005543681607393287,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755080.9913082,\n      \"lon\": -121.98936154738645,\n\
  \      \"lat\": 37.37722538766298,\n      \"yaw_radians\": -0.005543681607393287,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.0113134,\n\
  \      \"lon\": -121.98936154738645,\n      \"lat\": 37.37722538766298,\n      \"\
  yaw_radians\": -0.005543681607393287,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.0313144,\n      \"lon\": -121.98936154738645,\n\
  \      \"lat\": 37.37722538766298,\n      \"yaw_radians\": -0.005543681607393287,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.0512912,\n\
  \      \"lon\": -121.9893615470817,\n      \"lat\": 37.37722538772317,\n      \"\
  yaw_radians\": -0.005546497294386731,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.0713272,\n      \"lon\": -121.9893615470817,\n\
  \      \"lat\": 37.37722538772317,\n      \"yaw_radians\": -0.005546497294386731,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.0913184,\n\
  \      \"lon\": -121.9893615470817,\n      \"lat\": 37.37722538772317,\n      \"\
  yaw_radians\": -0.005546497294386731,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.111324,\n      \"lon\": -121.9893615470817,\n\
  \      \"lat\": 37.37722538772317,\n      \"yaw_radians\": -0.005546497294386731,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.1315832,\n\
  \      \"lon\": -121.9893615470817,\n      \"lat\": 37.37722538772317,\n      \"\
  yaw_radians\": -0.005546497294386731,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.151077,\n      \"lon\": -121.9893615467726,\n\
  \      \"lat\": 37.37722538778532,\n      \"yaw_radians\": -0.005549287609523989,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.1715975,\n\
  \      \"lon\": -121.9893615467726,\n      \"lat\": 37.37722538778532,\n      \"\
  yaw_radians\": -0.005549287609523989,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.1913362,\n      \"lon\": -121.9893615467726,\n\
  \      \"lat\": 37.37722538778532,\n      \"yaw_radians\": -0.005549287609523989,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.2110841,\n\
  \      \"lon\": -121.9893615467726,\n      \"lat\": 37.37722538778532,\n      \"\
  yaw_radians\": -0.005549287609523989,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.231096,\n      \"lon\": -121.9893615467726,\n\
  \      \"lat\": 37.37722538778532,\n      \"yaw_radians\": -0.005549287609523989,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.2510982,\n\
  \      \"lon\": -121.98936154646022,\n      \"lat\": 37.37722538784445,\n      \"\
  yaw_radians\": -0.005552097557167976,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.2711067,\n      \"lon\": -121.98936154646022,\n\
  \      \"lat\": 37.37722538784445,\n      \"yaw_radians\": -0.005552097557167976,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.2911413,\n\
  \      \"lon\": -121.98936154646022,\n      \"lat\": 37.37722538784445,\n      \"\
  yaw_radians\": -0.005552097557167976,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.3108823,\n      \"lon\": -121.98936154646022,\n\
  \      \"lat\": 37.37722538784445,\n      \"yaw_radians\": -0.005552097557167976,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.3308845,\n\
  \      \"lon\": -121.98936154646022,\n      \"lat\": 37.37722538784445,\n      \"\
  yaw_radians\": -0.005552097557167976,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.350871,\n      \"lon\": -121.98936154613591,\n\
  \      \"lat\": 37.37722538791576,\n      \"yaw_radians\": -0.005554787221405027,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.371374,\n\
  \      \"lon\": -121.98936154613591,\n      \"lat\": 37.37722538791576,\n      \"\
  yaw_radians\": -0.005554787221405027,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.3908865,\n      \"lon\": -121.98936154613591,\n\
  \      \"lat\": 37.37722538791576,\n      \"yaw_radians\": -0.005554787221405027,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.4108806,\n\
  \      \"lon\": -121.98936154613591,\n      \"lat\": 37.37722538791576,\n      \"\
  yaw_radians\": -0.005554787221405027,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.4308877,\n      \"lon\": -121.98936154613591,\n\
  \      \"lat\": 37.37722538791576,\n      \"yaw_radians\": -0.005554787221405027,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.4508889,\n\
  \      \"lon\": -121.98936154586274,\n      \"lat\": 37.377225387937514,\n     \
  \ \"yaw_radians\": -0.00555793864809303,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.4708943,\n      \"lon\": -121.98936154586274,\n\
  \      \"lat\": 37.377225387937514,\n      \"yaw_radians\": -0.005557938648093031,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.4908984,\n\
  \      \"lon\": -121.98936154586274,\n      \"lat\": 37.377225387937514,\n     \
  \ \"yaw_radians\": -0.005557938648093031,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.5109224,\n      \"lon\": -121.98936154586274,\n\
  \      \"lat\": 37.377225387937514,\n      \"yaw_radians\": -0.0055579386480930325,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.5309064,\n\
  \      \"lon\": -121.98936154586274,\n      \"lat\": 37.377225387937514,\n     \
  \ \"yaw_radians\": -0.005557938648093033,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.5509324,\n      \"lon\": -121.98936154558453,\n\
  \      \"lat\": 37.377225387946176,\n      \"yaw_radians\": -0.005561198145192508,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.5712333,\n\
  \      \"lon\": -121.98936154558453,\n      \"lat\": 37.377225387946176,\n     \
  \ \"yaw_radians\": -0.005561198145192508,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.5911462,\n      \"lon\": -121.98936154558453,\n\
  \      \"lat\": 37.377225387946176,\n      \"yaw_radians\": -0.005561198145192508,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.6111803,\n\
  \      \"lon\": -121.98936154558453,\n      \"lat\": 37.377225387946176,\n     \
  \ \"yaw_radians\": -0.005561198145192508,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_1\",\n      \"segment_type\": \"parking_exit\"\n  \
  \  },\n    {\n      \"timestamp\": 1770755081.6311605,\n      \"lon\": -121.98936154558453,\n\
  \      \"lat\": 37.377225387946176,\n      \"yaw_radians\": -0.005561198145192508,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_1\",\n  \
  \    \"segment_type\": \"parking_exit\"\n    },\n    {\n      \"timestamp\": 1770755081.6511822,\n\
  \      \"lon\": -121.98936154531965,\n      \"lat\": 37.37722538797092,\n      \"\
  yaw_radians\": -0.005564313918544052,\n      \"speed\": 0,\n      \"segment_id\"\
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  \      \"lon\": -121.98945271293339,\n      \"lat\": 37.3772586240012,\n      \"\
  yaw_radians\": -0.9872882073161181,\n      \"speed\": 1.8097111756080526,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.041203,\n      \"lon\": -121.98945247071832,\n\
  \      \"lat\": 37.377258330590784,\n      \"yaw_radians\": -0.986005154027897,\n\
  \      \"speed\": 1.8083629087608872,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.061193,\n      \"lon\": -121.98945227255393,\n      \"lat\": 37.3772580992753,\n\
  \      \"yaw_radians\": -0.9846420665119304,\n      \"speed\": 1.8043181082193904,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.0813472,\n\
  \      \"lon\": -121.98945203739609,\n      \"lat\": 37.37725781606674,\n      \"\
  yaw_radians\": -0.9832027640784634,\n      \"speed\": 1.8060034417783473,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.1813471,\n      \"lon\": -121.98945203780211,\n\
  \      \"lat\": 37.377257816389665,\n      \"yaw_radians\": -0.9832950742236238,\n\
  \      \"speed\": 1.8060034417783475,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.2211962,\n      \"lon\": -121.98945157294462,\n      \"lat\": 37.37725725932881,\n\
  \      \"yaw_radians\": -0.9801277161634899,\n      \"speed\": 1.8036439747958073,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.2412124,\n\
  \      \"lon\": -121.98945133833217,\n      \"lat\": 37.37725697953024,\n      \"\
  yaw_radians\": -0.9784464390452476,\n      \"speed\": 1.799599174254311,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.2611961,\n      \"lon\": -121.9894511340591,\n\
  \      \"lat\": 37.3772567419188,\n      \"yaw_radians\": -0.9767140255069611,\n\
  \      \"speed\": 1.7972397072717707,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755232.2812188,\n      \"lon\": -121.98945094492426,\n      \"lat\": 37.37725651808683,\n\
  \      \"yaw_radians\": -0.9751909062604354,\n      \"speed\": 1.795554373712814,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.301194,\n\
  \      \"lon\": -121.9894507106003,\n      \"lat\": 37.37725624181288,\n      \"\
  yaw_radians\": -0.9732030890627057,\n      \"speed\": 1.7942061068656485,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.3212256,\n      \"lon\": -121.98945042814671,\n\
  \      \"lat\": 37.37725590962894,\n      \"yaw_radians\": -0.9709894902128077,\n\
  \      \"speed\": 1.7871277059180284,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755232.3412173,\n      \"lon\": -121.9894501923014,\n      \"lat\": 37.377255633872096,\n\
  \      \"yaw_radians\": -0.9689395721424633,\n      \"speed\": 1.788813039476986,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.361266,\n\
  \      \"lon\": -121.98944998149165,\n      \"lat\": 37.37725539696554,\n      \"\
  yaw_radians\": -0.9667056703048682,\n      \"speed\": 1.7864535724944461,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.381335,\n      \"lon\": -121.98944974306333,\n\
  \      \"lat\": 37.37725512074923,\n      \"yaw_radians\": -0.9645017598445459,\n\
  \      \"speed\": 1.7898242396123598,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.4012134,\n      \"lon\": -121.98944950679096,\n      \"lat\": 37.37725484832766,\n\
  \      \"yaw_radians\": -0.9622496783069032,\n      \"speed\": 1.7884759727651942,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.421219,\n\
  \      \"lon\": -121.98944926739773,\n      \"lat\": 37.377254573633216,\n     \
  \ \"yaw_radians\": -0.9599014959935492,\n      \"speed\": 1.794880240289231,\n \
  \     \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.4412344,\n  \
  \    \"lon\": -121.98944902742366,\n      \"lat\": 37.37725429965092,\n      \"\
  yaw_radians\": -0.9574770448815505,\n      \"speed\": 1.7969026405599797,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.4612541,\n      \"lon\": -121.98944880531978,\n\
  \      \"lat\": 37.377254065995906,\n      \"yaw_radians\": -0.9544252808766392,\n\
  \      \"speed\": 1.7989250408307276,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.4812534,\n      \"lon\": -121.98944856072998,\n      \"lat\": 37.37725378996869,\n\
  \      \"yaw_radians\": -0.9518250042309786,\n      \"speed\": 1.7975767739835624,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.5012553,\n\
  \      \"lon\": -121.98944832060488,\n      \"lat\": 37.37725352046858,\n      \"\
  yaw_radians\": -0.9491988808074724,\n      \"speed\": 1.7938690401538566,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.5212653,\n      \"lon\": -121.9894480773404,\n\
  \      \"lat\": 37.37725324894775,\n      \"yaw_radians\": -0.9464708446807155,\n\
  \      \"speed\": 1.7948802402892312,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.5412793,\n      \"lon\": -121.98944783267252,\n      \"lat\": 37.37725297743249,\n\
  \      \"yaw_radians\": -0.943655730182478,\n      \"speed\": 1.7975767739835622,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.5612953,\n\
  \      \"lon\": -121.98944760464902,\n      \"lat\": 37.377252745395005,\n     \
  \ \"yaw_radians\": -0.9401291053533746,\n      \"speed\": 1.7942061068656479,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.5812702,\n\
  \      \"lon\": -121.98944735801312,\n      \"lat\": 37.37725247531325,\n      \"\
  yaw_radians\": -0.937152942692025,\n      \"speed\": 1.7938690401538564,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.6012673,\n      \"lon\": -121.98944711049275,\n\
  \      \"lat\": 37.37725220594427,\n      \"yaw_radians\": -0.9340947545468297,\n\
  \      \"speed\": 1.7962285071363964,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.621282,\n      \"lon\": -121.98944686194852,\n      \"lat\": 37.37725193719533,\n\
  \      \"yaw_radians\": -0.9309507925950704,\n      \"speed\": 1.795891440424605,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.641034,\n\
  \      \"lon\": -121.98944661417141,\n      \"lat\": 37.37725167101789,\n      \"\
  yaw_radians\": -0.9277542958867087,\n      \"speed\": 1.8002733076778932,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.6612654,\n      \"lon\": -121.98944637568096,\n\
  \      \"lat\": 37.37725143824301,\n      \"yaw_radians\": -0.9235729967321785,\n\
  \      \"speed\": 1.798250907407145,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.6810162,\n      \"lon\": -121.98944612684555,\n      \"lat\": 37.37725117500798,\n\
  \      \"yaw_radians\": -0.920232299437978,\n      \"speed\": 1.7979138406953536,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.7010665,\n\
  \      \"lon\": -121.98944587233468,\n      \"lat\": 37.377250907640544,\n     \
  \ \"yaw_radians\": -0.9167492553653613,\n      \"speed\": 1.8002733076778934,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.7210503,\n\
  \      \"lon\": -121.98944561454513,\n      \"lat\": 37.37725063877558,\n      \"\
  yaw_radians\": -0.9131606634806045,\n      \"speed\": 1.8006103743896849,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.7410665,\n      \"lon\": -121.98944536417561,\n\
  \      \"lat\": 37.377250379590535,\n      \"yaw_radians\": -0.9096056787159174,\n\
  \      \"speed\": 1.7975767739835622,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.761317,\n      \"lon\": -121.9894451108759,\n      \"lat\": 37.377250142821154,\n\
  \      \"yaw_radians\": -0.9048362150145192,\n      \"speed\": 1.7989250408307282,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.781307,\n\
  \      \"lon\": -121.9894448561468,\n      \"lat\": 37.37724988362227,\n      \"\
  yaw_radians\": -0.9010965140907031,\n      \"speed\": 1.7995991742543105,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.8013172,\n      \"lon\": -121.98944459508141,\n\
  \      \"lat\": 37.37724962000338,\n      \"yaw_radians\": -0.8972060753486346,\n\
  \      \"speed\": 1.798250907407145,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.821321,\n      \"lon\": -121.9894443337187,\n      \"lat\": 37.37724935818837,\n\
  \      \"yaw_radians\": -0.8932459568119403,\n      \"speed\": 1.7975767739835622,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.8413205,\n\
  \      \"lon\": -121.98944407460986,\n      \"lat\": 37.377249100731404,\n     \
  \ \"yaw_radians\": -0.8892537029689174,\n      \"speed\": 1.7962285071363968,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.8613126,\n\
  \      \"lon\": -121.98944381804274,\n      \"lat\": 37.377248876823515,\n     \
  \ \"yaw_radians\": -0.8838675186026973,\n      \"speed\": 1.7979138406953536,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.8813157,\n\
  \      \"lon\": -121.98944355308406,\n      \"lat\": 37.377248618539774,\n     \
  \ \"yaw_radians\": -0.8796792239264563,\n      \"speed\": 1.7931949067302737,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.9013188,\n\
  \      \"lon\": -121.98944328660521,\n      \"lat\": 37.37724836098541,\n      \"\
  yaw_radians\": -0.8754043436692421,\n      \"speed\": 1.7925207733066912,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.9213116,\n      \"lon\": -121.98944301927827,\n\
  \      \"lat\": 37.37724810484528,\n      \"yaw_radians\": -0.8710552953663825,\n\
  \      \"speed\": 1.7894871729005686,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755232.9413238,\n      \"lon\": -121.98944275055335,\n      \"lat\": 37.37724784963813,\n\
  \      \"yaw_radians\": -0.8666175617154498,\n      \"speed\": 1.7904983730359427,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755232.9613383,\n\
  \      \"lon\": -121.9894424940288,\n      \"lat\": 37.3772476340467,\n      \"\
  yaw_radians\": -0.8609727742645271,\n      \"speed\": 1.7847682389354886,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755232.981087,\n      \"lon\": -121.98944222623062,\n\
  \      \"lat\": 37.37724738485822,\n      \"yaw_radians\": -0.85644791033504,\n\
  \      \"speed\": 1.7851053056472803,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.001083,\n      \"lon\": -121.98944195314914,\n      \"lat\": 37.377247133066234,\n\
  \      \"yaw_radians\": -0.851780317664014,\n      \"speed\": 1.7851053056472803,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.0211174,\n\
  \      \"lon\": -121.98944167930908,\n      \"lat\": 37.37724688294409,\n      \"\
  yaw_radians\": -0.8470431851441641,\n      \"speed\": 1.7837570388001147,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.0410898,\n      \"lon\": -121.9894414038756,\n\
  \      \"lat\": 37.37724663376391,\n      \"yaw_radians\": -0.8422146565856892,\n\
  \      \"speed\": 1.7817346385293662,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.061275,\n      \"lon\": -121.98944113668479,\n      \"lat\": 37.37724641769716,\n\
  \      \"yaw_radians\": -0.8360939302393242,\n      \"speed\": 1.7770157045642865,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.0811133,\n\
  \      \"lon\": -121.98944086506722,\n      \"lat\": 37.377246177334406,\n     \
  \ \"yaw_radians\": -0.8312158354507085,\n      \"speed\": 1.774993304293538,\n \
  \     \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.1013937,\n  \
  \    \"lon\": -121.98944058273148,\n      \"lat\": 37.377245929919944,\n      \"\
  yaw_radians\": -0.826094035599847,\n      \"speed\": 1.7746562375817467,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.121362,\n      \"lon\": -121.98944030284852,\n\
  \      \"lat\": 37.377245687146534,\n      \"yaw_radians\": -0.8209750365664223,\n\
  \      \"speed\": 1.7672407699223358,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755233.143701,\n      \"lon\": -121.98943999134393,\n      \"lat\": 37.37724541972343,\n\
  \      \"yaw_radians\": -0.8152108711950297,\n      \"speed\": 1.7685890367695014,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.161815,\n\
  \      \"lon\": -121.98943974753182,\n      \"lat\": 37.37724523572618,\n      \"\
  yaw_radians\": -0.8091745988171487,\n      \"speed\": 1.760836502398299,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.1814082,\n      \"lon\": -121.98943947756219,\n\
  \      \"lat\": 37.37724500937516,\n      \"yaw_radians\": -0.8041108815106076,\n\
  \      \"speed\": 1.7530839680270967,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.2011445,\n      \"lon\": -121.98943919195494,\n      \"lat\": 37.37724477232386,\n\
  \      \"yaw_radians\": -0.7987254288841134,\n      \"speed\": 1.7544322348742625,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.221141,\n\
  \      \"lon\": -121.98943894073943,\n      \"lat\": 37.37724456611369,\n      \"\
  yaw_radians\": -0.7939266374934908,\n      \"speed\": 1.7561175684332195,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.24118,\n      \"lon\": -121.98943859162893,\n\
  \      \"lat\": 37.377244282250636,\n      \"yaw_radians\": -0.7872954439909063,\n\
  \      \"speed\": 1.752409834603514,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.2611344,\n      \"lon\": -121.98943834567282,\n      \"lat\": 37.37724410473957,\n\
  \      \"yaw_radians\": -0.7809601399330438,\n      \"speed\": 1.74667970050306,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.2811463,\n\
  \      \"lon\": -121.98943805890826,\n      \"lat\": 37.37724387753547,\n      \"\
  yaw_radians\": -0.7754308963644252,\n      \"speed\": 1.744994366944103,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.3011527,\n      \"lon\": -121.98943777310271,\n\
  \      \"lat\": 37.377243653584074,\n      \"yaw_radians\": -0.7698980998119745,\n\
  \      \"speed\": 1.740949566402606,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.320945,\n      \"lon\": -121.98943748498068,\n      \"lat\": 37.377243430308745,\n\
  \      \"yaw_radians\": -0.7643020703080438,\n      \"speed\": 1.7396012995554406,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.3409677,\n\
  \      \"lon\": -121.9894371901181,\n      \"lat\": 37.37724320436153,\n      \"\
  yaw_radians\": -0.7585585629907625,\n      \"speed\": 1.7372418325729007,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.3609235,\n      \"lon\": -121.9894369164328,\n\
  \      \"lat\": 37.37724301994945,\n      \"yaw_radians\": -0.7515007422518195,\n\
  \      \"speed\": 1.7305004983370726,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.3809462,\n      \"lon\": -121.98943662114912,\n      \"lat\": 37.377242799413644,\n\
  \      \"yaw_radians\": -0.7457242976690732,\n      \"speed\": 1.7271298312191585,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.4009244,\n\
  \      \"lon\": -121.98943632308978,\n      \"lat\": 37.37724257937395,\n      \"\
  yaw_radians\": -0.7398798925663164,\n      \"speed\": 1.7224108972540786,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.4209476,\n      \"lon\": -121.9894360299334,\n\
  \      \"lat\": 37.37724236548562,\n      \"yaw_radians\": -0.7341156604778735,\n\
  \      \"speed\": 1.718366096712582,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.4409337,\n      \"lon\": -121.98943573062336,\n      \"lat\": 37.3772421496169,\n\
  \      \"yaw_radians\": -0.7282195225948074,\n      \"speed\": 1.7180290300007908,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.4609547,\n\
  \      \"lon\": -121.98943543108821,\n      \"lat\": 37.377241936137004,\n     \
  \ \"yaw_radians\": -0.7222953541914191,\n      \"speed\": 1.7220738305422876,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.480956,\n\
  \      \"lon\": -121.98943516467894,\n      \"lat\": 37.377241768815225,\n     \
  \ \"yaw_radians\": -0.714970484975599,\n      \"speed\": 1.7106135623413796,\n \
  \     \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.5009353,\n  \
  \    \"lon\": -121.98943486334133,\n      \"lat\": 37.377241559716836,\n      \"\
  yaw_radians\": -0.708950827907011,\n      \"speed\": 1.7133100960357108,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.5209439,\n      \"lon\": -121.98943456006114,\n\
  \      \"lat\": 37.377241351806376,\n      \"yaw_radians\": -0.7028633349049292,\n\
  \      \"speed\": 1.7096023622060055,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.5409489,\n      \"lon\": -121.98943425678124,\n      \"lat\": 37.377241146435225,\n\
  \      \"yaw_radians\": -0.6967416450677543,\n      \"speed\": 1.7116247624767538,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.5609581,\n\
  \      \"lon\": -121.98943394929275,\n      \"lat\": 37.377240940767926,\n     \
  \ \"yaw_radians\": -0.6905082108923157,\n      \"speed\": 1.7058946283763001,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.5809512,\n\
  \      \"lon\": -121.98943368047595,\n      \"lat\": 37.377240780052524,\n     \
  \ \"yaw_radians\": -0.6830330618038036,\n      \"speed\": 1.7065687617998828,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.6009521,\n\
  \      \"lon\": -121.9894333720264,\n      \"lat\": 37.377240579414064,\n      \"\
  yaw_radians\": -0.676715425246971,\n      \"speed\": 1.7045463615291343,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.6209617,\n      \"lon\": -121.98943306299627,\n\
  \      \"lat\": 37.377240380971784,\n      \"yaw_radians\": -0.6703564693369644,\n\
  \      \"speed\": 1.7011756944112202,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.6409626,\n      \"lon\": -121.98943275166943,\n      \"lat\": 37.37724018364332,\n\
  \      \"yaw_radians\": -0.6639293385270567,\n      \"speed\": 1.6988162274286809,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.661065,\n\
  \      \"lon\": -121.98943246023534,\n      \"lat\": 37.37724002560243,\n      \"\
  yaw_radians\": -0.655783471400096,\n      \"speed\": 1.6954455603107665,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.68099,\n      \"lon\": -121.98943214925274,\n\
  \      \"lat\": 37.377239834324946,\n      \"yaw_radians\": -0.6493699856537372,\n\
  \      \"speed\": 1.6880300926513556,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.7009993,\n      \"lon\": -121.98943183498918,\n      \"lat\": 37.37723964358696,\n\
  \      \"yaw_radians\": -0.6429132687192057,\n      \"speed\": 1.68904129278673,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.7209735,\n\
  \      \"lon\": -121.98943152021413,\n      \"lat\": 37.37723945510303,\n      \"\
  yaw_radians\": -0.6364779530381569,\n      \"speed\": 1.686007692380607,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.740978,\n      \"lon\": -121.9894312317221,\n\
  \      \"lat\": 37.37723930433256,\n      \"yaw_radians\": -0.6284619745482948,\n\
  \      \"speed\": 1.6870188925159817,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.7616765,\n      \"lon\": -121.98943089921927,\n      \"lat\": 37.37723911121604,\n\
  \      \"yaw_radians\": -0.621748474373192,\n      \"speed\": 1.6816258251273193,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.7810078,\n\
  \      \"lon\": -121.98943059223858,\n      \"lat\": 37.377238935453896,\n     \
  \ \"yaw_radians\": -0.6155946314427462,\n      \"speed\": 1.6839852921098588,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.8010142,\n\
  \      \"lon\": -121.98943027173134,\n      \"lat\": 37.377238754343246,\n     \
  \ \"yaw_radians\": -0.6092274491240776,\n      \"speed\": 1.6769068911622393,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.8210244,\n\
  \      \"lon\": -121.98942995135657,\n      \"lat\": 37.37723857574862,\n      \"\
  yaw_radians\": -0.6029385062053699,\n      \"speed\": 1.6779180912976135,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.8410804,\n      \"lon\": -121.98942963961352,\n\
  \      \"lat\": 37.37723840430078,\n      \"yaw_radians\": -0.5968987101909948,\n\
  \      \"speed\": 1.6711767570617855,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.8610206,\n      \"lon\": -121.98942932566995,\n      \"lat\": 37.377238254730685,\n\
  \      \"yaw_radians\": -0.5886668059075381,\n      \"speed\": 1.6681431566556628,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.8810892,\n\
  \      \"lon\": -121.98942901084536,\n      \"lat\": 37.37723808684649,\n      \"\
  yaw_radians\": -0.5827274528426694,\n      \"speed\": 1.6671319565202884,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.9010055,\n      \"lon\": -121.98942868859515,\n\
  \      \"lat\": 37.37723791721762,\n      \"yaw_radians\": -0.5767150709869465,\n\
  \      \"speed\": 1.6630871559787916,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.9208117,\n      \"lon\": -121.98942836700506,\n      \"lat\": 37.377237750155125,\n\
  \      \"yaw_radians\": -0.5707858530382498,\n      \"speed\": 1.6580311553019205,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755233.9408157,\n\
  \      \"lon\": -121.98942804003013,\n      \"lat\": 37.37723758248854,\n      \"\
  yaw_radians\": -0.5648409287133892,\n      \"speed\": 1.6529751546250493,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755233.960887,\n      \"lon\": -121.9894277492183,\n\
  \      \"lat\": 37.37723745535121,\n      \"yaw_radians\": -0.5573307030405729,\n\
  \      \"speed\": 1.6479191539481783,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755233.9807665,\n      \"lon\": -121.9894274224733,\n      \"lat\": 37.37723729271447,\n\
  \      \"yaw_radians\": -0.5515747617734696,\n      \"speed\": 1.6438743534066815,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.000797,\n\
  \      \"lon\": -121.98942709355596,\n      \"lat\": 37.37723713108637,\n      \"\
  yaw_radians\": -0.545877426015495,\n      \"speed\": 1.6391554194416023,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.0208037,\n      \"lon\": -121.98942676949288,\n\
  \      \"lat\": 37.37723697387182,\n      \"yaw_radians\": -0.540364231600914,\n\
  \      \"speed\": 1.6364588857472706,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.0408304,\n      \"lon\": -121.98942644265792,\n      \"lat\": 37.37723681728063,\n\
  \      \"yaw_radians\": -0.5349005727878788,\n      \"speed\": 1.632414085205774,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.0608053,\n\
  \      \"lon\": -121.98942614428516,\n      \"lat\": 37.37723670203951,\n      \"\
  yaw_radians\": -0.5274831866570163,\n      \"speed\": 1.6276951512406943,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.081072,\n      \"lon\": -121.98942581367503,\n\
  \      \"lat\": 37.37723654824151,\n      \"yaw_radians\": -0.52216417552976,\n\
  \      \"speed\": 1.6263468843935287,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.181072,\n      \"lon\": -121.98942581269532,\n      \"lat\": 37.37723654787126,\n\
  \      \"yaw_radians\": -0.5220678463421399,\n      \"speed\": 1.6263468843935287,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.2208247,\n\
  \      \"lon\": -121.98942516166106,\n      \"lat\": 37.37723625031141,\n      \"\
  yaw_radians\": -0.5119353629602978,\n      \"speed\": 1.6148866161926205,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.2408385,\n      \"lon\": -121.98942483143495,\n\
  \      \"lat\": 37.37723610215142,\n      \"yaw_radians\": -0.5069116501392406,\n\
  \      \"speed\": 1.6138754160572466,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.2612062,\n      \"lon\": -121.98942453480547,\n      \"lat\": 37.37723599870544,\n\
  \      \"yaw_radians\": -0.49991874203208336,\n      \"speed\": 1.6121900824982895,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.2810824,\n\
  \      \"lon\": -121.98942428611873,\n      \"lat\": 37.37723589034259,\n      \"\
  yaw_radians\": -0.4963435792168916,\n      \"speed\": 1.605785814974253,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.3008194,\n      \"lon\": -121.98942396149181,\n\
  \      \"lat\": 37.377235749848744,\n      \"yaw_radians\": -0.4917760536380705,\n\
  \      \"speed\": 1.604100481415296,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.320835,\n      \"lon\": -121.9894235474929,\n      \"lat\": 37.37723557297848,\n\
  \      \"yaw_radians\": -0.48576653566657774,\n      \"speed\": 1.5973591471794677,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.3408444,\n\
  \      \"lon\": -121.98942322324594,\n      \"lat\": 37.37723543628278,\n      \"\
  yaw_radians\": -0.4812955377202515,\n      \"speed\": 1.5980332806030508,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.361101,\n      \"lon\": -121.98942291198999,\n\
  \      \"lat\": 37.377235340703365,\n      \"yaw_radians\": -0.4741959271172198,\n\
  \      \"speed\": 1.590954879655431,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.3810399,\n      \"lon\": -121.98942257976267,\n      \"lat\": 37.37723520453842,\n\
  \      \"yaw_radians\": -0.46976857982091924,\n      \"speed\": 1.5929772799261794,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.4008625,\n\
  \      \"lon\": -121.98942225560968,\n      \"lat\": 37.37723507311956,\n      \"\
  yaw_radians\": -0.46552230350267326,\n      \"speed\": 1.5882583459611002,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.4210296,\n  \
  \    \"lon\": -121.98942192204476,\n      \"lat\": 37.37723493929884,\n      \"\
  yaw_radians\": -0.4612180591127908,\n      \"speed\": 1.5872471458257251,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.4408588,\n      \"lon\": -121.98942159708295,\n\
  \      \"lat\": 37.37723481031983,\n      \"yaw_radians\": -0.45708769829380647,\n\
  \      \"speed\": 1.581854078437063,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.4611151,\n      \"lon\": -121.98942129225293,\n      \"lat\": 37.377234724890805,\n\
  \      \"yaw_radians\": -0.4504209008037899,\n      \"speed\": 1.5778092778955661,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.4811332,\n\
  \      \"lon\": -121.98942095877166,\n      \"lat\": 37.37723459608221,\n      \"\
  yaw_radians\": -0.4463005860890319,\n      \"speed\": 1.5727532772186952,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.500965,\n      \"lon\": -121.98942063689103,\n\
  \      \"lat\": 37.37723447305382,\n      \"yaw_radians\": -0.4423755384910188,\n\
  \      \"speed\": 1.5693826101007813,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.521143,\n      \"lon\": -121.98942029700673,\n      \"lat\": 37.37723434444678,\n\
  \      \"yaw_radians\": -0.43827574510371997,\n      \"speed\": 1.5663490096946586,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.5408947,\n\
  \      \"lon\": -121.9894199763589,\n      \"lat\": 37.37723422439455,\n      \"\
  yaw_radians\": -0.4344572904390243,\n      \"speed\": 1.567360209830033,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.5608714,\n      \"lon\": -121.9894196958611,\n\
  \      \"lat\": 37.37723414607753,\n      \"yaw_radians\": -0.4285451301193152,\n\
  \      \"speed\": 1.5606188755942045,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755234.580905,\n      \"lon\": -121.98941936076412,\n      \"lat\": 37.37723402376745,\n\
  \      \"yaw_radians\": -0.42463716623404274,\n      \"speed\": 1.558933542035248,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.6009004,\n\
  \      \"lon\": -121.98941903578873,\n      \"lat\": 37.377233906372496,\n     \
  \ \"yaw_radians\": -0.4208840744182148,\n      \"speed\": 1.5535404746465853,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.6209087,\n\
  \      \"lon\": -121.98941869703228,\n      \"lat\": 37.37723378521669,\n      \"\
  yaw_radians\": -0.41700367700398794,\n      \"speed\": 1.558259408611665,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.6409094,\n      \"lon\": -121.98941836768519,\n\
  \      \"lat\": 37.37723366864551,\n      \"yaw_radians\": -0.4132679910125803,\n\
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  : 1770755234.6609116,\n      \"lon\": -121.98941807796372,\n      \"lat\": 37.377233590127624,\n\
  \      \"yaw_radians\": -0.4077320429847443,\n      \"speed\": 1.5532034079347936,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.6809149,\n\
  \      \"lon\": -121.98941774470208,\n      \"lat\": 37.377233475102784,\n     \
  \ \"yaw_radians\": -0.4040188015499635,\n      \"speed\": 1.5478103405461314,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.7006545,\n\
  \      \"lon\": -121.9894174189528,\n      \"lat\": 37.3772333638131,\n      \"\
  yaw_radians\": -0.40041975942715285,\n      \"speed\": 1.5447767401400083,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98941708247887,\n      \"lat\": 37.37723325000236,\n      \"\
  yaw_radians\": -0.3967301162260655,\n      \"speed\": 1.5414060730220946,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.7406852,\n      \"lon\": -121.98941675545052,\n\
  \      \"lat\": 37.37723314051946,\n      \"yaw_radians\": -0.39317187474647936,\n\
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  : 1770755234.761807,\n      \"lon\": -121.98941640513844,\n      \"lat\": 37.37723302440447,\n\
  \      \"yaw_radians\": -0.389391779111127,\n      \"speed\": 1.5346647387862666,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.7806506,\n\
  \      \"lon\": -121.98941615420006,\n      \"lat\": 37.377232953258186,\n     \
  \ \"yaw_radians\": -0.3849581964729023,\n      \"speed\": 1.5232044705853587,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.800986,\n\
  \      \"lon\": -121.98941582797586,\n      \"lat\": 37.37723284762791,\n      \"\
  yaw_radians\": -0.3814804985193337,\n      \"speed\": 1.521856203738193,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.8210192,\n      \"lon\": -121.98941548869162,\n\
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  : 1770755234.8406715,\n      \"lon\": -121.98941518787093,\n      \"lat\": 37.377232643435164,\n\
  \      \"yaw_radians\": -0.37470871533138567,\n      \"speed\": 1.5164631363495307,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.860893,\n\
  \      \"lon\": -121.98941486626528,\n      \"lat\": 37.377232551971,\n      \"\
  yaw_radians\": -0.3698114883983438,\n      \"speed\": 1.5137666026551992,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.880694,\n      \"lon\": -121.98941456503482,\n\
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  : 1770755234.9007,\n      \"lon\": -121.98941423091841,\n      \"lat\": 37.377232356078196,\n\
  \      \"yaw_radians\": -0.36321990597658477,\n      \"speed\": 1.5093847354019112,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.9206946,\n\
  \      \"lon\": -121.98941389585387,\n      \"lat\": 37.37723225428532,\n      \"\
  yaw_radians\": -0.3597731193678361,\n      \"speed\": 1.5046658014368313,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755234.9406898,\n      \"lon\": -121.98941357708546,\n\
  \      \"lat\": 37.37723215844689,\n      \"yaw_radians\": -0.35651714783116945,\n\
  \      \"speed\": 1.500958067607126,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755234.9607146,\n      \"lon\": -121.98941330775737,\n      \"lat\": 37.377232082131854,\n\
  \      \"yaw_radians\": -0.3524750879725813,\n      \"speed\": 1.5012951343189174,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755234.9807093,\n\
  \      \"lon\": -121.98941298275105,\n      \"lat\": 37.377231986575055,\n     \
  \ \"yaw_radians\": -0.34919792047840553,\n      \"speed\": 1.497587400489212,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.0007126,\n\
  \      \"lon\": -121.98941265369852,\n      \"lat\": 37.37723189080669,\n      \"\
  yaw_radians\": -0.3458998441318361,\n      \"speed\": 1.4955650002184635,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.0207121,\n      \"lon\": -121.98941232495513,\n\
  \      \"lat\": 37.377231796109,\n      \"yaw_radians\": -0.3426256112719001,\n\
  \      \"speed\": 1.4945538000830891,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755235.04072,\n      \"lon\": -121.98941199816447,\n      \"lat\": 37.37723170293776,\n\
  \      \"yaw_radians\": -0.3393914221521686,\n      \"speed\": 1.4894977994062182,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.0607295,\n\
  \      \"lon\": -121.98941172057913,\n      \"lat\": 37.377231629283855,\n     \
  \ \"yaw_radians\": -0.3354453561577188,\n      \"speed\": 1.4881495325590528,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.0807135,\n\
  \      \"lon\": -121.98941139329956,\n      \"lat\": 37.377231538082484,\n     \
  \ \"yaw_radians\": -0.33224741797578067,\n      \"speed\": 1.4857900655765126,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.1013074,\n\
  \      \"lon\": -121.98941105637842,\n      \"lat\": 37.37723144515746,\n      \"\
  yaw_radians\": -0.3289778413356353,\n      \"speed\": 1.4827564651703902,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.120759,\n      \"lon\": -121.9894107375058,\n\
  \      \"lat\": 37.37723135813997,\n      \"yaw_radians\": -0.32590318587751543,\n\
  \      \"speed\": 1.4807340648996417,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.1407254,\n      \"lon\": -121.98941041088896,\n      \"lat\": 37.377231269902815,\n\
  \      \"yaw_radians\": -0.3227754872015205,\n      \"speed\": 1.479385798052476,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.1607668,\n\
  \      \"lon\": -121.98941013231756,\n      \"lat\": 37.377231202073574,\n     \
  \ \"yaw_radians\": -0.3188000008110953,\n      \"speed\": 1.4780375312053105,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.1807897,\n\
  \      \"lon\": -121.98940981458252,\n      \"lat\": 37.3772311182405,\n      \"\
  yaw_radians\": -0.3157992444390949,\n      \"speed\": 1.4750039307991878,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.2007928,\n      \"lon\": -121.98940946867017,\n\
  \      \"lat\": 37.377231027891185,\n      \"yaw_radians\": -0.3125504425711185,\n\
  \      \"speed\": 1.4733185972402307,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755235.2207537,\n      \"lon\": -121.98940915039402,\n      \"lat\": 37.377230945671364,\n\
  \      \"yaw_radians\": -0.3095853688002018,\n      \"speed\": 1.4736556639520222,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.2407424,\n\
  \      \"lon\": -121.98940882532386,\n      \"lat\": 37.37723086254607,\n      \"\
  yaw_radians\": -0.30657706499536747,\n      \"speed\": 1.4682625965633598,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.2605367,\n  \
  \    \"lon\": -121.98940855027251,\n      \"lat\": 37.37723080141445,\n      \"\
  yaw_radians\": -0.3026276541990561,\n      \"speed\": 1.4628695291746971,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.2808247,\n      \"lon\": -121.98940821940374,\n\
  \      \"lat\": 37.3772307188274,\n      \"yaw_radians\": -0.29960921682665115,\n\
  \      \"speed\": 1.4618583290393232,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.3005161,\n      \"lon\": -121.98940789846634,\n      \"lat\": 37.37723063956763,\n\
  \      \"yaw_radians\": -0.2967008233195996,\n      \"speed\": 1.4598359287685745,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.3207161,\n\
  \      \"lon\": -121.98940756929734,\n      \"lat\": 37.37723055911241,\n      \"\
  yaw_radians\": -0.2937372027039173,\n      \"speed\": 1.4578135284978262,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.3405168,\n      \"lon\": -121.98940724246457,\n\
  \      \"lat\": 37.37723048007182,\n      \"yaw_radians\": -0.29081383754349216,\n\
  \      \"speed\": 1.4588247286332003,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.3605204,\n      \"lon\": -121.98940697450546,\n      \"lat\": 37.377230421413294,\n\
  \      \"yaw_radians\": -0.2871632821493391,\n      \"speed\": 1.4537687279563294,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.380524,\n\
  \      \"lon\": -121.98940663957111,\n      \"lat\": 37.37723034232858,\n      \"\
  yaw_radians\": -0.284202724904278,\n      \"speed\": 1.4514092609737894,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.4005508,\n      \"lon\": -121.98940632255174,\n\
  \      \"lat\": 37.37723026828677,\n      \"yaw_radians\": -0.28141611771334263,\n\
  \      \"speed\": 1.4490497939912494,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.4205632,\n      \"lon\": -121.98940599060346,\n      \"lat\": 37.37723019155798,\n\
  \      \"yaw_radians\": -0.27850949803071934,\n      \"speed\": 1.4524204611091636,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.4408216,\n\
  \      \"lon\": -121.98940566423252,\n      \"lat\": 37.37723011693754,\n      \"\
  yaw_radians\": -0.2756619890602326,\n      \"speed\": 1.4463532602969182,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.460556,\n      \"lon\": -121.98940539338834,\n\
  \      \"lat\": 37.37723005947347,\n      \"yaw_radians\": -0.2721680127685021,\n\
  \      \"speed\": 1.443656726602587,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.4805753,\n      \"lon\": -121.98940506889197,\n      \"lat\": 37.37722998704973,\n\
  \      \"yaw_radians\": -0.26935336730502435,\n      \"speed\": 1.4423084597554214,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.500577,\n\
  \      \"lon\": -121.98940474547533,\n      \"lat\": 37.377229915648165,\n     \
  \ \"yaw_radians\": -0.2665516022717836,\n      \"speed\": 1.4406231261964644,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.5205836,\n\
  \      \"lon\": -121.9894044243803,\n      \"lat\": 37.37722984552862,\n      \"\
  yaw_radians\": -0.26377468780625973,\n      \"speed\": 1.4382636592139244,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.5408168,\n  \
  \    \"lon\": -121.98940408859858,\n      \"lat\": 37.37722977299824,\n      \"\
  yaw_radians\": -0.2608757357645478,\n      \"speed\": 1.4338817919606361,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.5605745,\n      \"lon\": -121.98940382201886,\n\
  \      \"lat\": 37.377229719795615,\n      \"yaw_radians\": -0.2574806564361169,\n\
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  : 1770755235.5805733,\n      \"lon\": -121.98940349855746,\n      \"lat\": 37.37722965166252,\n\
  \      \"yaw_radians\": -0.25469537888879556,\n      \"speed\": 1.4311852582663052,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.6006055,\n\
  \      \"lon\": -121.98940317468087,\n      \"lat\": 37.37722958421148,\n      \"\
  yaw_radians\": -0.25190725455271296,\n      \"speed\": 1.4305111248427225,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.6206298,\n  \
  \    \"lon\": -121.98940285436734,\n      \"lat\": 37.377229518263285,\n      \"\
  yaw_radians\": -0.2491517726532745,\n      \"speed\": 1.4281516578601825,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.6408658,\n      \"lon\": -121.98940252069877,\n\
  \      \"lat\": 37.377229450346185,\n      \"yaw_radians\": -0.24628480457934446,\n\
  \      \"speed\": 1.4274775244365998,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.6611304,\n      \"lon\": -121.98940224573624,\n      \"lat\": 37.37722939631554,\n\
  \      \"yaw_radians\": -0.2429474353972801,\n      \"speed\": 1.4244439240304771,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.6806083,\n\
  \      \"lon\": -121.98940193227098,\n      \"lat\": 37.3772293341609,\n      \"\
  yaw_radians\": -0.24025956684910152,\n      \"speed\": 1.4234327238951028,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.7006052,\n  \
  \    \"lon\": -121.98940160963772,\n      \"lat\": 37.37722927092413,\n      \"\
  yaw_radians\": -0.2374922786404773,\n      \"speed\": 1.4214103236243545,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.7206016,\n      \"lon\": -121.98940129187342,\n\
  \      \"lat\": 37.377229209385405,\n      \"yaw_radians\": -0.23476859399024425,\n\
  \      \"speed\": 1.416354322947483,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.7406178,\n      \"lon\": -121.98940097014511,\n      \"lat\": 37.377229147820294,\n\
  \      \"yaw_radians\": -0.23201142820959827,\n      \"speed\": 1.4160172562356916,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.7606263,\n\
  \      \"lon\": -121.98940069716579,\n      \"lat\": 37.377229095544486,\n     \
  \ \"yaw_radians\": -0.22871162815510315,\n      \"speed\": 1.4139948559649433,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.780628,\n\
  \      \"lon\": -121.98940038414472,\n      \"lat\": 37.37722903724065,\n      \"\
  yaw_radians\": -0.22603546467244293,\n      \"speed\": 1.412646589117778,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.800629,\n      \"lon\": -121.98940006254239,\n\
  \      \"lat\": 37.37722897806356,\n      \"yaw_radians\": -0.223286344643532,\n\
  \      \"speed\": 1.409612988711655,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755235.8206213,\n      \"lon\": -121.98939974296052,\n      \"lat\": 37.377228919996206,\n\
  \      \"yaw_radians\": -0.22055621612438472,\n      \"speed\": 1.4065793883055326,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.840644,\n\
  \      \"lon\": -121.98939942187293,\n      \"lat\": 37.377228862390616,\n     \
  \ \"yaw_radians\": -0.21781491816727627,\n      \"speed\": 1.4065793883055324,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.860633,\n\
  \      \"lon\": -121.9893991474937,\n      \"lat\": 37.37722881618526,\n      \"\
  yaw_radians\": -0.21444915198416958,\n      \"speed\": 1.4062423215937412,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.8806357,\n  \
  \    \"lon\": -121.98939882670632,\n      \"lat\": 37.37722876027374,\n      \"\
  yaw_radians\": -0.21171283840513283,\n      \"speed\": 1.404219921322993,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.9006364,\n      \"lon\": -121.98939850640375,\n\
  \      \"lat\": 37.37722870517906,\n      \"yaw_radians\": -0.20898228243103673,\n\
  \      \"speed\": 1.4008492542050786,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755235.9206424,\n      \"lon\": -121.98939818730358,\n      \"lat\": 37.37722865101846,\n\
  \      \"yaw_radians\": -0.20626228251891848,\n      \"speed\": 1.4001751207814959,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755235.940396,\n\
  \      \"lon\": -121.98939787132896,\n      \"lat\": 37.37722859810345,\n      \"\
  yaw_radians\": -0.20357049924303783,\n      \"speed\": 1.398489787222539,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755235.9604046,\n      \"lon\": -121.98939755209419,\n\
  \      \"lat\": 37.377228545359415,\n      \"yaw_radians\": -0.20084989421390978,\n\
  \      \"speed\": 1.3957932535282074,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755235.9803932,\n      \"lon\": -121.98939728992326,\n      \"lat\": 37.377228502610635,\n\
  \      \"yaw_radians\": -0.1976453287820779,\n      \"speed\": 1.3954561868164161,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.000401,\n\
  \      \"lon\": -121.9893969714122,\n      \"lat\": 37.37722845155357,\n      \"\
  yaw_radians\": -0.19493162835737227,\n      \"speed\": 1.3917484529867108,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.0204053,\n  \
  \    \"lon\": -121.9893966487413,\n      \"lat\": 37.3772284005563,\n      \"yaw_radians\"\
  : -0.1921802138409634,\n      \"speed\": 1.390400186139545,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755236.0404122,\n      \"lon\": -121.98939633428311,\n\
  \      \"lat\": 37.377228351574246,\n      \"yaw_radians\": -0.18949755501872842,\n\
  \      \"speed\": 1.3880407191570054,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.0604181,\n      \"lon\": -121.98939605903016,\n      \"lat\": 37.37722831282827,\n\
  \      \"yaw_radians\": -0.18613418252378117,\n      \"speed\": 1.387029519021631,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.0804417,\n\
  \      \"lon\": -121.98939574170993,\n      \"lat\": 37.37722826498783,\n      \"\
  yaw_radians\": -0.1834253206426364,\n      \"speed\": 1.380288184785803,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.1004167,\n      \"lon\": -121.98939542587134,\n\
  \      \"lat\": 37.377228218074876,\n      \"yaw_radians\": -0.18073049413691822,\n\
  \      \"speed\": 1.3772545843796804,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.1204212,\n      \"lon\": -121.98939510950697,\n      \"lat\": 37.37722817178876,\n\
  \      \"yaw_radians\": -0.1780312487565304,\n      \"speed\": 1.3762433842443063,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.1404278,\n\
  \      \"lon\": -121.98939479529604,\n      \"lat\": 37.37722812651563,\n      \"\
  yaw_radians\": -0.17535296554131305,\n      \"speed\": 1.3671425830259383,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.1604512,\n  \
  \    \"lon\": -121.98939452367718,\n      \"lat\": 37.377228092805716,\n      \"\
  yaw_radians\": -0.17189394522982107,\n      \"speed\": 1.3620865823490673,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.1804316,\n  \
  \    \"lon\": -121.98939420963816,\n      \"lat\": 37.37722804914517,\n      \"\
  yaw_radians\": -0.16921876495088628,\n      \"speed\": 1.3614124489254842,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.2004602,\n  \
  \    \"lon\": -121.98939389771243,\n      \"lat\": 37.37722800646688,\n      \"\
  yaw_radians\": -0.16656031163453255,\n      \"speed\": 1.3556823148250305,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.2204576,\n  \
  \    \"lon\": -121.989393584535,\n      \"lat\": 37.377227964300914,\n      \"yaw_radians\"\
  : -0.16389239655369914,\n      \"speed\": 1.3526487144189079,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755236.2404583,\n      \"lon\": -121.98939327349451,\n\
  \      \"lat\": 37.37722792310347,\n      \"yaw_radians\": -0.16124510067373693,\n\
  \      \"speed\": 1.347592713742037,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.26046,\n      \"lon\": -121.98939300644916,\n      \"lat\": 37.37722789025195,\n\
  \      \"yaw_radians\": -0.15796356823943083,\n      \"speed\": 1.3448961800477055,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.2805305,\n\
  \      \"lon\": -121.98939269529315,\n      \"lat\": 37.377227850550526,\n     \
  \ \"yaw_radians\": -0.15532154521318753,\n      \"speed\": 1.3435479132005397,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.3004704,\n\
  \      \"lon\": -121.9893923867287,\n      \"lat\": 37.37722781184668,\n      \"\
  yaw_radians\": -0.1527038326295583,\n      \"speed\": 1.3378177791000858,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.320482,\n      \"lon\": -121.98939207754101,\n\
  \      \"lat\": 37.377227773727505,\n      \"yaw_radians\": -0.15008311702295912,\n\
  \      \"speed\": 1.3354583121175463,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.3404942,\n      \"lon\": -121.98939176998064,\n      \"lat\": 37.37722773646729,\n\
  \      \"yaw_radians\": -0.14747968518348134,\n      \"speed\": 1.3300652447288834,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.3605468,\n\
  \      \"lon\": -121.98939150674984,\n      \"lat\": 37.37722770535864,\n      \"\
  yaw_radians\": -0.14435632615035926,\n      \"speed\": 1.3266945776109695,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.3805163,\n  \
  \    \"lon\": -121.98939119847071,\n      \"lat\": 37.37722766945145,\n      \"\
  yaw_radians\": -0.14175985952778664,\n      \"speed\": 1.3229868437812644,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.4005136,\n  \
  \    \"lon\": -121.98939089566674,\n      \"lat\": 37.377227634823804,\n      \"\
  yaw_radians\": -0.139220228015612,\n      \"speed\": 1.3138860425628964,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.4205155,\n      \"lon\": -121.98939059119313,\n\
  \      \"lat\": 37.37722760063472,\n      \"yaw_radians\": -0.13668176307751584,\n\
  \      \"speed\": 1.3125377757157306,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.440498,\n      \"lon\": -121.9893902893006,\n      \"lat\": 37.37722756736013,\n\
  \      \"yaw_radians\": -0.1341812780654785,\n      \"speed\": 1.306807641615277,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.4605153,\n\
  \      \"lon\": -121.98939002913411,\n      \"lat\": 37.37722753708021,\n      \"\
  yaw_radians\": -0.1313244875378307,\n      \"speed\": 1.2997292406676573,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.4805355,\n      \"lon\": -121.9893897279027,\n\
  \      \"lat\": 37.37722750519706,\n      \"yaw_radians\": -0.1288616805327232,\n\
  \      \"speed\": 1.2939991065672032,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.5005293,\n      \"lon\": -121.98938942934048,\n      \"lat\": 37.377227474196786,\n\
  \      \"yaw_radians\": -0.12643813444948293,\n      \"speed\": 1.2899543060257066,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.5205314,\n\
  \      \"lon\": -121.98938913121466,\n      \"lat\": 37.37722744383033,\n      \"\
  yaw_radians\": -0.12403835936420968,\n      \"speed\": 1.2811905715191303,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.5402884,\n  \
  \    \"lon\": -121.98938883967604,\n      \"lat\": 37.377227414704436,\n      \"\
  yaw_radians\": -0.12171263979722749,\n      \"speed\": 1.2700673700300136,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.5605361,\n  \
  \    \"lon\": -121.98938859307303,\n      \"lat\": 37.37722738965926,\n      \"\
  yaw_radians\": -0.11890879426254464,\n      \"speed\": 1.2677079030474738,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.5802763,\n  \
  \    \"lon\": -121.98938830431521,\n      \"lat\": 37.37722736201193,\n      \"\
  yaw_radians\": -0.11664836077371872,\n      \"speed\": 1.2572588349819402,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.6003845,\n  \
  \    \"lon\": -121.98938801260573,\n      \"lat\": 37.377227334617515,\n      \"\
  yaw_radians\": -0.11438261546481017,\n      \"speed\": 1.2441132332220755,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.6204379,\n  \
  \    \"lon\": -121.9893877188976,\n      \"lat\": 37.377227307574806,\n      \"\
  yaw_radians\": -0.11211827889933122,\n      \"speed\": 1.2373718989862474,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.640579,\n   \
  \   \"lon\": -121.9893874386785,\n      \"lat\": 37.37722728228672,\n      \"yaw_radians\"\
  : -0.10997654761036132,\n      \"speed\": 1.2289452311914622,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755236.6605582,\n      \"lon\": -121.98938718541864,\n\
  \      \"lat\": 37.37722726365155,\n      \"yaw_radians\": -0.10702445693463329,\n\
  \      \"speed\": 1.2181590964141376,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.680341,\n      \"lon\": -121.98938690971897,\n      \"lat\": 37.37722723990259,\n\
  \      \"yaw_radians\": -0.10494845995000167,\n      \"speed\": 1.2117548288901006,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.7002966,\n\
  \      \"lon\": -121.98938662928876,\n      \"lat\": 37.37722721621471,\n      \"\
  yaw_radians\": -0.10284963719115507,\n      \"speed\": 1.201305760824567,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.72029,\n      \"lon\": -121.9893863511779,\n\
  \      \"lat\": 37.3772271931915,\n      \"yaw_radians\": -0.10078309042694417,\n\
  \      \"speed\": 1.1959126934359043,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.740309,\n      \"lon\": -121.98938607120266,\n      \"lat\": 37.37722717048039,\n\
  \      \"yaw_radians\": -0.09871345765024821,\n      \"speed\": 1.1844524252349968,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.7605805,\n\
  \      \"lon\": -121.98938579041176,\n      \"lat\": 37.37722714816943,\n      \"\
  yaw_radians\": -0.09665068439105909,\n      \"speed\": 1.175351624016629,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.7803185,\n      \"lon\": -121.9893855708441,\n\
  \      \"lat\": 37.3772271340107,\n      \"yaw_radians\": -0.0940119999381684,\n\
  \      \"speed\": 1.164902555951095,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.8004093,\n      \"lon\": -121.9893853006281,\n      \"lat\": 37.37722711356234,\n\
  \      \"yaw_radians\": -0.09204695208878252,\n      \"speed\": 1.1551276213091446,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.8203537,\n\
  \      \"lon\": -121.98938503332667,\n      \"lat\": 37.3772270937564,\n      \"\
  yaw_radians\": -0.09011354032814814,\n      \"speed\": 1.144004419820028,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.8403437,\n      \"lon\": -121.98938477127102,\n\
  \      \"lat\": 37.37722707474606,\n      \"yaw_radians\": -0.08822896479236426,\n\
  \      \"speed\": 1.1342294851780774,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.8613281,\n      \"lon\": -121.98938452259618,\n      \"lat\": 37.37722705967206,\n\
  \      \"yaw_radians\": -0.08548056115515384,\n      \"speed\": 1.1268140175186665,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.8803298,\n\
  \      \"lon\": -121.98938427738145,\n      \"lat\": 37.37722704279747,\n      \"\
  yaw_radians\": -0.08373568955597374,\n      \"speed\": 1.1217580168417958,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.9003592,\n  \
  \    \"lon\": -121.98938401389543,\n      \"lat\": 37.377227025034394,\n      \"\
  yaw_radians\": -0.08187081462467571,\n      \"speed\": 1.112320148911636,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755236.9203565,\n      \"lon\": -121.98938375624132,\n\
  \      \"lat\": 37.37722700805054,\n      \"yaw_radians\": -0.08005779541177258,\n\
  \      \"speed\": 1.1011969474225196,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755236.9403763,\n      \"lon\": -121.9893835130351,\n      \"lat\": 37.37722699237514,\n\
  \      \"yaw_radians\": -0.07835751651478445,\n      \"speed\": 1.0934444130513175,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.9608622,\n\
  \      \"lon\": -121.9893832629719,\n      \"lat\": 37.37722697577654,\n      \"\
  yaw_radians\": -0.07587235842758819,\n      \"speed\": 1.0867030788154892,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755236.980379,\n   \
  \   \"lon\": -121.98938302911698,\n      \"lat\": 37.377226961489164,\n      \"\
  yaw_radians\": -0.07425726842777687,\n      \"speed\": 1.0796246778678698,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.000373,\n   \
  \   \"lon\": -121.98938277794272,\n      \"lat\": 37.37722694646861,\n      \"yaw_radians\"\
  : -0.07253028841300391,\n      \"speed\": 1.0671532095315879,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755237.020375,\n      \"lon\": -121.98938252960092,\n\
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  : 1770755237.0404012,\n      \"lon\": -121.98938228833944,\n      \"lat\": 37.37722691819772,\n\
  \      \"yaw_radians\": -0.06919383254284275,\n      \"speed\": 1.054007607771723,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.0606472,\n\
  \      \"lon\": -121.98938206358345,\n      \"lat\": 37.37722690432898,\n      \"\
  yaw_radians\": -0.06703535600885699,\n      \"speed\": 1.0472662735358949,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98938182819704,\n      \"lat\": 37.37722689161593,\n      \"\
  yaw_radians\": -0.06545753378258061,\n      \"speed\": 1.0385025390293183,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98938158717293,\n      \"lat\": 37.37722687890307,\n      \"\
  yaw_radians\": -0.06385345436254439,\n      \"speed\": 1.0297388045227416,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \   \"lon\": -121.98938134748946,\n      \"lat\": 37.377226866569764,\n      \"\
  yaw_radians\": -0.06226856073352464,\n      \"speed\": 1.0226604035751221,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.9893811152567,\n      \"lat\": 37.37722685491485,\n      \"yaw_radians\"\
  : -0.0607466059615713,\n      \"speed\": 1.0132225356449631,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755237.1606374,\n      \"lon\": -121.98938090198791,\n\
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  : 1770755237.1802082,\n      \"lon\": -121.98938067553372,\n      \"lat\": 37.37722683327192,\n\
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  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.200148,\n\
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  yaw_radians\": -0.0557512492836113,\n      \"speed\": 0.9926614662256875,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
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  : 1770755237.240169,\n      \"lon\": -121.98937998836763,\n      \"lat\": 37.377226802365044,\n\
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  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.2606826,\n\
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  yaw_radians\": -0.050889705326800004,\n      \"speed\": 0.9690667964002893,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98937956157035,\n      \"lat\": 37.377226784959596,\n      \"\
  yaw_radians\": -0.0496061821562897,\n      \"speed\": 0.9633366622998353,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755237.300199,\n      \"lon\": -121.98937933756834,\n\
  \      \"lat\": 37.377226775996256,\n      \"yaw_radians\": -0.04830227564199972,\n\
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  : 1770755237.3203175,\n      \"lon\": -121.98937911292255,\n      \"lat\": 37.37722676724327,\n\
  \      \"yaw_radians\": -0.04702326936025531,\n      \"speed\": 0.9491798604045962,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.3401775,\n\
  \      \"lon\": -121.98937889972582,\n      \"lat\": 37.3772267591562,\n      \"\
  yaw_radians\": -0.04583844523998399,\n      \"speed\": 0.9404161258980197,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98937870059109,\n      \"lat\": 37.377226750832065,\n      \"\
  yaw_radians\": -0.0441327424517652,\n      \"speed\": 0.9360342586447313,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755237.380481,\n      \"lon\": -121.9893784845593,\n\
  \      \"lat\": 37.377226743139154,\n      \"yaw_radians\": -0.042986294489465525,\n\
  \      \"speed\": 0.9292929244089032,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755237.4002671,\n      \"lon\": -121.98937827161764,\n      \"lat\": 37.37722673575298,\n\
  \      \"yaw_radians\": -0.041878859450889434,\n      \"speed\": 0.9222145234612839,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.4201975,\n\
  \      \"lon\": -121.98937805402305,\n      \"lat\": 37.37722672839738,\n      \"\
  yaw_radians\": -0.040771969112783246,\n      \"speed\": 0.9158102559372472,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98937783684048,\n      \"lat\": 37.37722672124736,\n      \"\
  yaw_radians\": -0.03969267872474518,\n      \"speed\": 0.9097430551250018,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.4602318,\n  \
  \    \"lon\": -121.98937766307911,\n      \"lat\": 37.37722671440389,\n      \"\
  yaw_radians\": -0.03828852520700913,\n      \"speed\": 0.9036758543127565,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.480328,\n   \
  \   \"lon\": -121.98937744603671,\n      \"lat\": 37.37722670768762,\n      \"yaw_radians\"\
  : -0.03724829822588159,\n      \"speed\": 0.8959233199415543,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755237.5002577,\n      \"lon\": -121.98937723954151,\n\
  \      \"lat\": 37.377226701467784,\n      \"yaw_radians\": -0.03627732893474095,\n\
  \      \"speed\": 0.8891819857057262,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755237.52052,\n      \"lon\": -121.98937703590816,\n      \"lat\": 37.37722669549034,\n\
  \      \"yaw_radians\": -0.035337236311473494,\n      \"speed\": 0.8834518516052723,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.540747,\n\
  \      \"lon\": -121.9893768159198,\n      \"lat\": 37.37722668919695,\n      \"\
  yaw_radians\": -0.034331855579500505,\n      \"speed\": 0.8804182511991495,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.56048,\n    \
  \  \"lon\": -121.98937661928079,\n      \"lat\": 37.377226683727415,\n      \"yaw_radians\"\
  : -0.03344823165735395,\n      \"speed\": 0.8743510503869043,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755237.5805101,\n      \"lon\": -121.98937644945406,\n\
  \      \"lat\": 37.3772266777807,\n      \"yaw_radians\": -0.032193423987137176,\n\
  \      \"speed\": 0.8662614493039105,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755237.6007423,\n      \"lon\": -121.98937624817975,\n      \"lat\": 37.37722667252385,\n\
  \      \"yaw_radians\": -0.0313098435466455,\n      \"speed\": 0.8622166487624137,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.6204948,\n\
  \      \"lon\": -121.98937605002432,\n      \"lat\": 37.3772266674865,\n      \"\
  yaw_radians\": -0.030451065048488535,\n      \"speed\": 0.8558123812383771,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.6409807,\n  \
  \    \"lon\": -121.98937584093203,\n      \"lat\": 37.377226662313944,\n      \"\
  yaw_radians\": -0.02955479033132116,\n      \"speed\": 0.8483969135789661,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.660536,\n   \
  \   \"lon\": -121.98937567612205,\n      \"lat\": 37.377226659517945,\n      \"\
  yaw_radians\": -0.028218119340195736,\n      \"speed\": 0.8457003798846349,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.6813128,\n  \
  \    \"lon\": -121.98937547422149,\n      \"lat\": 37.37722665488253,\n      \"\
  yaw_radians\": -0.02737511676777869,\n      \"speed\": 0.8379478455134326,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.7007725,\n  \
  \    \"lon\": -121.98937527909654,\n      \"lat\": 37.377226650534396,\n      \"\
  yaw_radians\": -0.02656812649436272,\n      \"speed\": 0.8322177114129788,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.7207596,\n  \
  \    \"lon\": -121.98937509187682,\n      \"lat\": 37.377226646482875,\n      \"\
  yaw_radians\": -0.025805129038962354,\n      \"speed\": 0.8271617107361076,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.7407672,\n  \
  \    \"lon\": -121.98937488963784,\n      \"lat\": 37.37722664223072,\n      \"\
  yaw_radians\": -0.024986609290146594,\n      \"speed\": 0.8248022437535677,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.7610226,\n  \
  \    \"lon\": -121.98937473921295,\n      \"lat\": 37.377226637157996,\n      \"\
  yaw_radians\": -0.023941294232103925,\n      \"speed\": 0.8180609095177397,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.7807784,\n  \
  \    \"lon\": -121.98937453829564,\n      \"lat\": 37.37722663323229,\n      \"\
  yaw_radians\": -0.02315165880170881,\n      \"speed\": 0.8106454418583288,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.8010254,\n  \
  \    \"lon\": -121.98937435275248,\n      \"lat\": 37.37722662972331,\n      \"\
  yaw_radians\": -0.022440022729763177,\n      \"speed\": 0.8025558407753349,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.8210413,\n  \
  \    \"lon\": -121.98937416594273,\n      \"lat\": 37.37722662629672,\n      \"\
  yaw_radians\": -0.02173767235691558,\n      \"speed\": 0.7988481069456296,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.8413312,\n  \
  \    \"lon\": -121.98937397803952,\n      \"lat\": 37.377226622956194,\n      \"\
  yaw_radians\": -0.02104910793265199,\n      \"speed\": 0.797499840098464,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755237.8610475,\n      \"lon\": -121.9893738156802,\n\
  \      \"lat\": 37.377226616491456,\n      \"yaw_radians\": -0.020216822198687825,\n\
  \      \"speed\": 0.7904214391508444,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755237.8810349,\n      \"lon\": -121.98937363598189,\n      \"lat\": 37.377226613516896,\n\
  \      \"yaw_radians\": -0.019597733685455834,\n      \"speed\": 0.7826689047796421,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.9010572,\n\
  \      \"lon\": -121.98937345138319,\n      \"lat\": 37.37722661055354,\n      \"\
  yaw_radians\": -0.018981297668756957,\n      \"speed\": 0.7776129041027711,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.9210398,\n  \
  \    \"lon\": -121.98937327334606,\n      \"lat\": 37.377226607784806,\n      \"\
  yaw_radians\": -0.018409932166905844,\n      \"speed\": 0.7735681035612743,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755237.941788,\n   \
  \   \"lon\": -121.98937308042967,\n      \"lat\": 37.37722660487422,\n      \"yaw_radians\"\
  : -0.017812390105241414,\n      \"speed\": 0.7685121028844032,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755237.9611604,\n      \"lon\": -121.98937293503886,\n\
  \      \"lat\": 37.377226598205404,\n      \"yaw_radians\": -0.01727342258019488,\n\
  \      \"speed\": 0.7617707686485751,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755237.981053,\n      \"lon\": -121.98937275822979,\n      \"lat\": 37.37722659569945,\n\
  \      \"yaw_radians\": -0.016778629543588,\n      \"speed\": 0.7584001015306611,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.0010853,\n\
  \      \"lon\": -121.98937258148044,\n      \"lat\": 37.3772265932652,\n      \"\
  yaw_radians\": -0.0163105988403067,\n      \"speed\": 0.75098463387125,\n      \"\
  segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755238.0211549,\n      \"lon\": -121.98937241201321,\n\
  \      \"lat\": 37.377226590994454,\n      \"yaw_radians\": -0.015892266851443092,\n\
  \      \"speed\": 0.7482881001769188,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755238.0408309,\n      \"lon\": -121.98937222799577,\n      \"lat\": 37.37722658859256,\n\
  \      \"yaw_radians\": -0.015456424837349889,\n      \"speed\": 0.7415467659410907,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.0610015,\n\
  \      \"lon\": -121.98937208423743,\n      \"lat\": 37.37722658400828,\n      \"\
  yaw_radians\": -0.014952584821990234,\n      \"speed\": 0.7344683649934712,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.080856,\n   \
  \   \"lon\": -121.989371914911,\n      \"lat\": 37.37722658192518,\n      \"yaw_radians\"\
  : -0.014616851959686308,\n      \"speed\": 0.7290752976048087,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755238.100835,\n      \"lon\": -121.98937174613887,\n\
  \      \"lat\": 37.377226579893936,\n      \"yaw_radians\": -0.014315967195769037,\n\
  \      \"speed\": 0.7230080967925635,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755238.1211045,\n      \"lon\": -121.98937157159033,\n      \"lat\": 37.37722657783591,\n\
  \      \"yaw_radians\": -0.014036362878805615,\n      \"speed\": 0.7172779626921096,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.1413493,\n\
  \      \"lon\": -121.98937140651374,\n      \"lat\": 37.3772265759263,\n      \"\
  yaw_radians\": -0.013809008386823972,\n      \"speed\": 0.7101995617444903,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.1613648,\n  \
  \    \"lon\": -121.98937126151726,\n      \"lat\": 37.37722657335859,\n      \"\
  yaw_radians\": -0.01331164071644968,\n      \"speed\": 0.7064918279147847,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.1809525,\n  \
  \    \"lon\": -121.98937110060604,\n      \"lat\": 37.37722657159263,\n      \"\
  yaw_radians\": -0.013150453242266734,\n      \"speed\": 0.7027840940850792,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.201338,\n   \
  \   \"lon\": -121.98937093676969,\n      \"lat\": 37.37722656981524,\n      \"yaw_radians\"\
  : -0.01302077079670785,\n      \"speed\": 0.6936832928667114,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755238.2211277,\n      \"lon\": -121.98937077602923,\n\
  \      \"lat\": 37.377226568088744,\n      \"yaw_radians\": -0.012922793166711652,\n\
  \      \"speed\": 0.6882902254780487,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755238.2413735,\n      \"lon\": -121.98937061145148,\n      \"lat\": 37.377226566333654,\n\
  \      \"yaw_radians\": -0.01285449751402715,\n      \"speed\": 0.6852566250719261,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.2616293,\n\
  \      \"lon\": -121.98937046998176,\n      \"lat\": 37.37722656278096,\n      \"\
  yaw_radians\": -0.012632760600355463,\n      \"speed\": 0.6754816904299753,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98937031950028,\n      \"lat\": 37.37722656121014,\n      \"\
  yaw_radians\": -0.012629041714459695,\n      \"speed\": 0.6700886230413129,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98937015819406,\n      \"lat\": 37.37722655952753,\n      \"\
  yaw_radians\": -0.012645287921706997,\n      \"speed\": 0.667729156058773,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98937016114107,\n      \"lat\": 37.37722655956991,\n      \"\
  yaw_radians\": -0.012614880568098981,\n      \"speed\": 0.6677291560587731,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98936985167565,\n      \"lat\": 37.37722655631713,\n      \"\
  yaw_radians\": -0.012751775358003403,\n      \"speed\": 0.6572800879932394,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \   \"lon\": -121.98936971867128,\n      \"lat\": 37.37722655127029,\n      \"yaw_radians\"\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755238.4811316,\n      \"lon\": -121.98936956882251,\n\
  \      \"lat\": 37.37722654968613,\n      \"yaw_radians\": -0.012864605907120335,\n\
  \      \"speed\": 0.6444715529451662,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755238.501153,\n      \"lon\": -121.9893694169117,\n      \"lat\": 37.37722654806742,\n\
  \      \"yaw_radians\": -0.012969784885362498,\n      \"speed\": 0.6444715529451662,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.5211477,\n\
  \      \"lon\": -121.98936926777992,\n      \"lat\": 37.37722654646385,\n      \"\
  yaw_radians\": -0.013082122870771016,\n      \"speed\": 0.637730218709338,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98936911688443,\n      \"lat\": 37.37722654482668,\n      \"\
  yaw_radians\": -0.013198983938747362,\n      \"speed\": 0.6333483514560498,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98936899074715,\n      \"lat\": 37.37722653810128,\n      \"\
  yaw_radians\": -0.013438117553898753,\n      \"speed\": 0.6323371513206755,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98936884495103,\n      \"lat\": 37.37722653647423,\n      \"\
  yaw_radians\": -0.013556952177862068,\n      \"speed\": 0.6245846169494733,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98936870226399,\n      \"lat\": 37.37722653486683,\n      \"\
  yaw_radians\": -0.013672760372399702,\n      \"speed\": 0.6205398164079764,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \   \"lon\": -121.98936855715391,\n      \"lat\": 37.37722653321685,\n      \"yaw_radians\"\
  : -0.013789716323563456,\n      \"speed\": 0.6175062160018536,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755238.6412613,\n      \"lon\": -121.98936841010638,\n\
  \      \"lat\": 37.37722653153037,\n      \"yaw_radians\": -0.013903340312166897,\n\
  \      \"speed\": 0.6121131486131912,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755238.66069,\n      \"lon\": -121.98936829010525,\n      \"lat\": 37.377226525580525,\n\
  \      \"yaw_radians\": -0.01412585581600631,\n      \"speed\": 0.6121131486131913,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.6809273,\n\
  \      \"lon\": -121.9893681423179,\n      \"lat\": 37.377226523844286,\n      \"\
  yaw_radians\": -0.0142289478816923,\n      \"speed\": 0.604360614241989,\n     \
  \ \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755238.7009618,\n      \"lon\": -121.98936800486685,\n\
  \      \"lat\": 37.377226522217875,\n      \"yaw_radians\": -0.014317933372241428,\n\
  \      \"speed\": 0.6020011472594492,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : 1770755238.7212076,\n      \"lon\": -121.98936786657363,\n      \"lat\": 37.37722652057095,\n\
  \      \"yaw_radians\": -0.01440364229772544,\n      \"speed\": 0.5972822132943694,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.7406917,\n\
  \      \"lon\": -121.98936772390698,\n      \"lat\": 37.37722651886142,\n      \"\
  yaw_radians\": -0.014490291075482527,\n      \"speed\": 0.5918891459057068,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.7607675,\n  \
  \    \"lon\": -121.98936760946609,\n      \"lat\": 37.377226511441656,\n      \"\
  yaw_radians\": -0.014791106350842343,\n      \"speed\": 0.5898667456349584,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.7806997,\n  \
  \    \"lon\": -121.98936747161528,\n      \"lat\": 37.37722650974767,\n      \"\
  yaw_radians\": -0.014867125242340976,\n      \"speed\": 0.5844736782462961,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.8007462,\n  \
  \    \"lon\": -121.98936733533401,\n      \"lat\": 37.37722650806522,\n      \"\
  yaw_radians\": -0.014939459131976984,\n      \"speed\": 0.584473678246296,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.8212044,\n  \
  \    \"lon\": -121.98936719087355,\n      \"lat\": 37.377226506273935,\n      \"\
  yaw_radians\": -0.0150146571473937,\n      \"speed\": 0.5780694107222594,\n    \
  \  \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\
  \n    },\n    {\n      \"timestamp\": 1770755238.8407192,\n      \"lon\": -121.98936706337783,\n\
  \      \"lat\": 37.37722650468576,\n      \"yaw_radians\": -0.015079425331690391,\n\
  \      \"speed\": 0.576047010451511,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755238.8607347,\n      \"lon\": -121.98936695055079,\n      \"lat\": 37.377226496189515,\n\
  \      \"yaw_radians\": -0.015475836999536143,\n      \"speed\": 0.57099100977464,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.8807776,\n\
  \      \"lon\": -121.9893668188813,\n      \"lat\": 37.37722649450176,\n      \"\
  yaw_radians\": -0.015541267007401998,\n      \"speed\": 0.5666091425213516,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
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  \    \"lon\": -121.98936668892608,\n      \"lat\": 37.37722649282962,\n      \"\
  yaw_radians\": -0.015604870669471443,\n      \"speed\": 0.5645867422506031,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.9207556,\n  \
  \    \"lon\": -121.98936655143821,\n      \"lat\": 37.37722649105359,\n      \"\
  yaw_radians\": -0.015672111559990546,\n      \"speed\": 0.5588566081501494,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.9405165,\n  \
  \    \"lon\": -121.98936642529006,\n      \"lat\": 37.377226489417474,\n      \"\
  yaw_radians\": -0.01573337210228766,\n      \"speed\": 0.5568342078794009,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.9618664,\n  \
  \    \"lon\": -121.98936630624291,\n      \"lat\": 37.37722648140213,\n      \"\
  yaw_radians\": -0.01613910813751278,\n      \"speed\": 0.5487446067964071,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755238.980503,\n   \
  \   \"lon\": -121.9893661857576,\n      \"lat\": 37.37722647979453,\n      \"yaw_radians\"\
  : -0.016197611453248564,\n      \"speed\": 0.5487446067964071,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755239.0007718,\n      \"lon\": -121.98936605842422,\n\
  \      \"lat\": 37.377226478089625,\n      \"yaw_radians\": -0.016259439994181543,\n\
  \      \"speed\": 0.536273138460125,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755239.0205083,\n      \"lon\": -121.98936593264884,\n      \"lat\": 37.37722647639937,\n\
  \      \"yaw_radians\": -0.016320512103567372,\n      \"speed\": 0.5362731384601251,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.0407019,\n\
  \      \"lon\": -121.98936581799241,\n      \"lat\": 37.37722647485291,\n      \"\
  yaw_radians\": -0.016376185283598518,\n      \"speed\": 0.5221163365648861,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.060976,\n   \
  \   \"lon\": -121.98936569795805,\n      \"lat\": 37.37722646747951,\n      \"yaw_radians\"\
  : -0.01674780205910949,\n      \"speed\": 0.5221163365648861,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755239.0805273,\n      \"lon\": -121.98936558986249,\n\
  \      \"lat\": 37.37722646598468,\n      \"yaw_radians\": -0.01680028989891644,\n\
  \      \"speed\": 0.5069483345342729,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755239.1004925,\n      \"lon\": -121.98936546849374,\n      \"lat\": 37.377226464301245,\n\
  \      \"yaw_radians\": -0.016859222836375084,\n      \"speed\": 0.5069483345342729,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.1205442,\n\
  \      \"lon\": -121.98936535380257,\n      \"lat\": 37.37722646270503,\n      \"\
  yaw_radians\": -0.016914913409681313,\n      \"speed\": 0.4884096653857456,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.1405394,\n  \
  \    \"lon\": -121.98936524102963,\n      \"lat\": 37.3772264611305,\n      \"yaw_radians\"\
  : -0.01696967258530986,\n      \"speed\": 0.4857131316914144,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755239.1606936,\n      \"lon\": -121.98936513965772,\n\
  \      \"lat\": 37.37722645426605,\n      \"yaw_radians\": -0.017266848513100955,\n\
  \      \"speed\": 0.4685227293900528,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755239.180624,\n      \"lon\": -121.98936503469326,\n      \"lat\": 37.37722645277104,\n\
  \      \"yaw_radians\": -0.01731742126758852,\n      \"speed\": 0.4621184618660161,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.2005389,\n\
  \      \"lon\": -121.98936492651474,\n      \"lat\": 37.3772264512259,\n      \"\
  yaw_radians\": -0.01736918206280072,\n      \"speed\": 0.4493099268179427,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.2205718,\n  \
  \    \"lon\": -121.98936482413541,\n      \"lat\": 37.37722644975937,\n      \"\
  yaw_radians\": -0.01741814847676323,\n      \"speed\": 0.4341419247873295,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.2403178,\n  \
  \    \"lon\": -121.989364721019,\n      \"lat\": 37.37722644827811,\n      \"yaw_radians\"\
  : -0.017467520872126895,\n      \"speed\": 0.4341419247873295,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755239.2604027,\n      \"lon\": -121.98936463865701,\n\
  \      \"lat\": 37.37722644190267,\n      \"yaw_radians\": -0.017773583582680257,\n\
  \      \"speed\": 0.4088619214029741,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755239.2800615,\n      \"lon\": -121.98936454394826,\n      \"lat\": 37.37722644051532,\n\
  \      \"yaw_radians\": -0.017818595944733964,\n      \"speed\": 0.39976112018460624,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.3000355,\n\
  \      \"lon\": -121.98936444868642,\n      \"lat\": 37.37722643911657,\n      \"\
  yaw_radians\": -0.01786313290716661,\n      \"speed\": 0.3963904530666922,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.320055,\n   \
  \   \"lon\": -121.98936436082606,\n      \"lat\": 37.37722643782325,\n      \"yaw_radians\"\
  : -0.017904245703361833,\n      \"speed\": 0.3700992495469626,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755239.3401287,\n      \"lon\": -121.98936427218806,\n\
  \      \"lat\": 37.377226436515706,\n      \"yaw_radians\": -0.017945065578080212,\n\
  \      \"speed\": 0.3606613816168033,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
  ,\n      \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755239.3605497,\n      \"lon\": -121.98936419763517,\n      \"lat\": 37.37722643099816,\n\
  \      \"yaw_radians\": -0.0181997217532839,\n      \"speed\": 0.35863898134605476,\n\
  \      \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\":\
  \ \"parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.3800602,\n\
  \      \"lon\": -121.98936412231551,\n      \"lat\": 37.3772264298692,\n      \"\
  yaw_radians\": -0.01823412870843196,\n      \"speed\": 0.33403311138528224,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.3998017,\n  \
  \    \"lon\": -121.98936404227736,\n      \"lat\": 37.37722642866735,\n      \"\
  yaw_radians\": -0.018270476022972472,\n      \"speed\": 0.32189870976079166,\n \
  \     \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.4198132,\n  \
  \    \"lon\": -121.98936396627826,\n      \"lat\": 37.377226427523944,\n      \"\
  yaw_radians\": -0.018304378786820924,\n      \"speed\": 0.317179775795712,\n   \
  \   \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.4398236,\n  \
  \    \"lon\": -121.98936389520591,\n      \"lat\": 37.37722642645272,\n      \"\
  yaw_radians\": -0.018335783601729595,\n      \"speed\": 0.3087531080009269,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.4598346,\n  \
  \    \"lon\": -121.98936388241289,\n      \"lat\": 37.377226421976445,\n      \"\
  yaw_radians\": -0.018557988863956657,\n      \"speed\": 0.0755029434412747,\n  \
  \    \"segment_id\": \"multi_loop_route_segment_3\",\n      \"segment_type\": \"\
  parking_entrance\"\n    },\n    {\n      \"timestamp\": 1770755239.480224,\n   \
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  : -0.01855911823784418,\n      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\"\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.019343102120655247,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.01993424226416781,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : 1770755239.8999465,\n      \"lon\": -121.98936383440129,\n      \"lat\": 37.377226402264185,\n\
  \      \"yaw_radians\": -0.01993424226416781,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.01993424226416781,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.020199322955046287,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.020199322955046287,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"lat\": 37.37722637696206,\n      \"yaw_radians\": -0.021798016890813014,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755240.7796378,\n      \"lon\": -121.989363683434,\n      \"lat\": 37.37722637696206,\n\
  \      \"yaw_radians\": -0.021798016890813014,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755240.7996001,\n      \"lon\": -121.989363683434,\n\
  \      \"lat\": 37.37722637696206,\n      \"yaw_radians\": -0.021798016890813014,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755240.8196857,\n      \"lon\": -121.989363683434,\n      \"lat\": 37.37722637696206,\n\
  \      \"yaw_radians\": -0.021798016890813014,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755240.83961,\n      \"lon\": -121.989363683434,\n\
  \      \"lat\": 37.37722637696206,\n      \"yaw_radians\": -0.021798016890813014,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755240.8596125,\n      \"lon\": -121.98936365185963,\n      \"lat\": 37.37722637489984,\n\
  \      \"yaw_radians\": -0.02194564996315837,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755240.8796177,\n      \"lon\": -121.98936365185963,\n\
  \      \"lat\": 37.37722637489984,\n      \"yaw_radians\": -0.02194564996315837,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755240.8996477,\n      \"lon\": -121.98936365185963,\n      \"lat\": 37.37722637489984,\n\
  \      \"yaw_radians\": -0.02194564996315837,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755240.9196246,\n      \"lon\": -121.98936365185963,\n\
  \      \"lat\": 37.37722637489984,\n      \"yaw_radians\": -0.02194564996315837,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755240.9396162,\n      \"lon\": -121.98936365185963,\n      \"lat\": 37.37722637489984,\n\
  \      \"yaw_radians\": -0.02194564996315837,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755240.9603775,\n      \"lon\": -121.98936361800175,\n\
  \      \"lat\": 37.37722637292504,\n      \"yaw_radians\": -0.022085129742183816,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755240.9796515,\n      \"lon\": -121.98936361800175,\n      \"lat\": 37.37722637292504,\n\
  \      \"yaw_radians\": -0.022085129742183816,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755240.999646,\n      \"lon\": -121.98936361800175,\n\
  \      \"lat\": 37.37722637292504,\n      \"yaw_radians\": -0.022085129742183816,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.019655,\n      \"lon\": -121.98936361800175,\n      \"lat\": 37.37722637292504,\n\
  \      \"yaw_radians\": -0.022085129742183816,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.039703,\n      \"lon\": -121.98936361800175,\n\
  \      \"lat\": 37.37722637292504,\n      \"yaw_radians\": -0.022085129742183816,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.0596585,\n      \"lon\": -121.98936358229435,\n      \"lat\": 37.37722637106857,\n\
  \      \"yaw_radians\": -0.022216267240231242,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.079665,\n      \"lon\": -121.98936358229435,\n\
  \      \"lat\": 37.37722637106857,\n      \"yaw_radians\": -0.022216267240231242,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.0996928,\n      \"lon\": -121.98936358229435,\n      \"lat\": 37.37722637106857,\n\
  \      \"yaw_radians\": -0.022216267240231242,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.1196575,\n      \"lon\": -121.98936358229435,\n\
  \      \"lat\": 37.37722637106857,\n      \"yaw_radians\": -0.022216267240231242,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.1396968,\n      \"lon\": -121.98936358229435,\n      \"lat\": 37.37722637106857,\n\
  \      \"yaw_radians\": -0.022216267240231242,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.1596859,\n      \"lon\": -121.98936354493435,\n\
  \      \"lat\": 37.3772263692329,\n      \"yaw_radians\": -0.022342753701081155,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.1794271,\n      \"lon\": -121.98936354493435,\n      \"lat\": 37.3772263692329,\n\
  \      \"yaw_radians\": -0.022342753701081155,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.1994479,\n      \"lon\": -121.98936354493435,\n\
  \      \"lat\": 37.3772263692329,\n      \"yaw_radians\": -0.022342753701081155,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.219456,\n      \"lon\": -121.98936354493435,\n      \"lat\": 37.3772263692329,\n\
  \      \"yaw_radians\": -0.022342753701081155,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.2394767,\n      \"lon\": -121.98936354493435,\n\
  \      \"lat\": 37.3772263692329,\n      \"yaw_radians\": -0.022342753701081155,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.2597,\n      \"lon\": -121.9893635064631,\n      \"lat\": 37.37722636754099,\n\
  \      \"yaw_radians\": -0.02246149202400559,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.2794583,\n      \"lon\": -121.9893635064631,\n\
  \      \"lat\": 37.37722636754099,\n      \"yaw_radians\": -0.02246149202400559,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.2994719,\n      \"lon\": -121.9893635064631,\n      \"lat\": 37.37722636754099,\n\
  \      \"yaw_radians\": -0.02246149202400559,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.319457,\n      \"lon\": -121.9893635064631,\n\
  \      \"lat\": 37.37722636754099,\n      \"yaw_radians\": -0.02246149202400559,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.3394542,\n      \"lon\": -121.9893635064631,\n      \"lat\": 37.37722636754099,\n\
  \      \"yaw_radians\": -0.02246149202400559,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.3597085,\n      \"lon\": -121.98936346732202,\n\
  \      \"lat\": 37.377226365778824,\n      \"yaw_radians\": -0.02258042911807548,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.3794675,\n      \"lon\": -121.98936346732202,\n      \"lat\": 37.377226365778824,\n\
  \      \"yaw_radians\": -0.02258042911807548,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.3994553,\n      \"lon\": -121.98936346732202,\n\
  \      \"lat\": 37.377226365778824,\n      \"yaw_radians\": -0.02258042911807548,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.4194906,\n      \"lon\": -121.98936346732202,\n      \"lat\": 37.377226365778824,\n\
  \      \"yaw_radians\": -0.02258042911807548,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.4394927,\n      \"lon\": -121.98936346732202,\n\
  \      \"lat\": 37.377226365778824,\n      \"yaw_radians\": -0.02258042911807548,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.45975,\n      \"lon\": -121.9893634280538,\n      \"lat\": 37.37722636422467,\n\
  \      \"yaw_radians\": -0.022691317235655754,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.4795222,\n      \"lon\": -121.9893634280538,\n\
  \      \"lat\": 37.37722636422467,\n      \"yaw_radians\": -0.022691317235655754,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.4994922,\n      \"lon\": -121.9893634280538,\n      \"lat\": 37.37722636422467,\n\
  \      \"yaw_radians\": -0.022691317235655754,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.5195072,\n      \"lon\": -121.9893634280538,\n\
  \      \"lat\": 37.37722636422467,\n      \"yaw_radians\": -0.022691317235655754,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.5395207,\n      \"lon\": -121.9893634280538,\n      \"lat\": 37.37722636422467,\n\
  \      \"yaw_radians\": -0.022691317235655754,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.559513,\n      \"lon\": -121.98936338914551,\n\
  \      \"lat\": 37.37722636269895,\n      \"yaw_radians\": -0.02280099945326518,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.5809758,\n      \"lon\": -121.98936338914551,\n      \"lat\": 37.37722636269895,\n\
  \      \"yaw_radians\": -0.02280099945326518,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.5995295,\n      \"lon\": -121.98936338914551,\n\
  \      \"lat\": 37.37722636269895,\n      \"yaw_radians\": -0.02280099945326518,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.6197639,\n      \"lon\": -121.98936338914551,\n      \"lat\": 37.37722636269895,\n\
  \      \"yaw_radians\": -0.02280099945326518,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.6395364,\n      \"lon\": -121.98936338914551,\n\
  \      \"lat\": 37.37722636269895,\n      \"yaw_radians\": -0.02280099945326518,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755241.6595209,\n      \"lon\": -121.98936335119012,\n      \"lat\": 37.37722636136015,\n\
  \      \"yaw_radians\": -0.022905323947355977,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.6795337,\n      \"lon\": -121.98936335119012,\n\
  \      \"lat\": 37.37722636136015,\n      \"yaw_radians\": -0.02290532394735597,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
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  \      \"yaw_radians\": -0.02290532394735597,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.7195234,\n      \"lon\": -121.98936335119012,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  \      \"yaw_radians\": -0.022905323947355963,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  \      \"yaw_radians\": -0.023007634773599895,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.7995534,\n      \"lon\": -121.98936331460668,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  \      \"yaw_radians\": -0.02300763477359989,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.8395686,\n      \"lon\": -121.98936331460668,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  \      \"yaw_radians\": -0.023108449389607114,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  \      \"yaw_radians\": -0.023108449389607114,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755241.9193332,\n      \"lon\": -121.98936327912695,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  \      \"yaw_radians\": -0.023108449389607114,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  \      \"yaw_radians\": -0.02321149551961042,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : 1770755243.5994098,\n      \"lon\": -121.98936282426016,\n      \"lat\": 37.377226344366605,\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.02477770665846472,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.024867327687491808,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.024867327687491808,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755244.7391198,\n      \"lon\": -121.98936259883037,\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.025907200604986594,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.2593775,\n      \"lon\": -121.98936222423009,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
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  \      \"yaw_radians\": -0.027466721851041855,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.2988706,\n      \"lon\": -121.98936222423009,\n\
  \      \"lat\": 37.37722634400282,\n      \"yaw_radians\": -0.027466721851041855,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.3188837,\n      \"lon\": -121.98936222423009,\n      \"lat\": 37.37722634400282,\n\
  \      \"yaw_radians\": -0.027466721851041855,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.338877,\n      \"lon\": -121.98936222423009,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.3591511,\n      \"lon\": -121.98936221301896,\n      \"lat\": 37.37722634420754,\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.3789082,\n      \"lon\": -121.98936221301896,\n\
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  : 1770755247.3988962,\n      \"lon\": -121.98936221301896,\n      \"lat\": 37.37722634420754,\n\
  \      \"yaw_radians\": -0.027534385268962656,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.4188936,\n      \"lon\": -121.98936221301896,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.438901,\n      \"lon\": -121.98936221301896,\n      \"lat\": 37.37722634420754,\n\
  \      \"yaw_radians\": -0.027534385268962656,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.4589076,\n      \"lon\": -121.98936220204399,\n\
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  : 1770755247.4789057,\n      \"lon\": -121.98936220204399,\n      \"lat\": 37.37722634448295,\n\
  \      \"yaw_radians\": -0.027600063305926233,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.4988947,\n      \"lon\": -121.98936220204399,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.518918,\n      \"lon\": -121.98936220204399,\n      \"lat\": 37.37722634448295,\n\
  \      \"yaw_radians\": -0.027600063305926233,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.5391824,\n      \"lon\": -121.98936220204399,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.5589325,\n      \"lon\": -121.98936219118853,\n      \"lat\": 37.37722634471506,\n\
  \      \"yaw_radians\": -0.027666674510926616,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.5789387,\n      \"lon\": -121.98936219118853,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.5989258,\n      \"lon\": -121.98936219118853,\n      \"lat\": 37.37722634471506,\n\
  \      \"yaw_radians\": -0.027666674510926616,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.6189299,\n      \"lon\": -121.98936219118853,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.6386864,\n      \"lon\": -121.98936219118853,\n      \"lat\": 37.37722634471506,\n\
  \      \"yaw_radians\": -0.027666674510926616,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.6597545,\n      \"lon\": -121.9893621804238,\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.6786914,\n      \"lon\": -121.9893621804238,\n      \"lat\": 37.37722634499876,\n\
  \      \"yaw_radians\": -0.02773161310872649,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
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  : 1770755247.718709,\n      \"lon\": -121.9893621804238,\n      \"lat\": 37.37722634499876,\n\
  \      \"yaw_radians\": -0.02773161310872649,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755247.738722,\n      \"lon\": -121.9893621804238,\n\
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  : 1770755247.7589552,\n      \"lon\": -121.9893621698542,\n      \"lat\": 37.37722634526813,\n\
  \      \"yaw_radians\": -0.027796822031071807,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.027796822031071807,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : 1770755247.8387232,\n      \"lon\": -121.9893621698542,\n      \"lat\": 37.37722634526813,\n\
  \      \"yaw_radians\": -0.027796822031071807,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.02786254133728434,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
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  \      \"yaw_radians\": -0.029015565798411896,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755249.7780943,\n      \"lon\": -121.98936198869065,\n\
  \      \"lat\": 37.37722635254485,\n      \"yaw_radians\": -0.029015565798411896,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755249.798131,\n      \"lon\": -121.98936198869065,\n      \"lat\": 37.37722635254485,\n\
  \      \"yaw_radians\": -0.029015565798411896,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755249.8180916,\n      \"lon\": -121.98936198869065,\n\
  \      \"lat\": 37.37722635254485,\n      \"yaw_radians\": -0.029015565798411896,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755249.8381002,\n      \"lon\": -121.98936198869065,\n      \"lat\": 37.37722635254485,\n\
  \      \"yaw_radians\": -0.029015565798411896,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755249.8580976,\n      \"lon\": -121.98936198078654,\n\
  \      \"lat\": 37.37722635306217,\n      \"yaw_radians\": -0.0290705240907601,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755249.87811,\n      \"lon\": -121.98936198078654,\n      \"lat\": 37.37722635306217,\n\
  \      \"yaw_radians\": -0.0290705240907601,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755249.897855,\n      \"lon\": -121.98936198078654,\n\
  \      \"lat\": 37.37722635306217,\n      \"yaw_radians\": -0.0290705240907601,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755249.918108,\n      \"lon\": -121.98936198078654,\n      \"lat\": 37.37722635306217,\n\
  \      \"yaw_radians\": -0.0290705240907601,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755249.9381092,\n      \"lon\": -121.98936198078654,\n\
  \      \"lat\": 37.37722635306217,\n      \"yaw_radians\": -0.0290705240907601,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755249.9581301,\n      \"lon\": -121.98936198078654,\n      \"lat\": 37.37722635306217,\n\
  \      \"yaw_radians\": -0.0290705240907601,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755249.9778676,\n      \"lon\": -121.98936197296294,\n\
  \      \"lat\": 37.377226353536884,\n      \"yaw_radians\": -0.029126348599085097,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755249.9978752,\n      \"lon\": -121.98936197296294,\n      \"lat\": 37.377226353536884,\n\
  \      \"yaw_radians\": -0.029126348599085097,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.017891,\n      \"lon\": -121.98936197296294,\n\
  \      \"lat\": 37.377226353536884,\n      \"yaw_radians\": -0.029126348599085097,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.0379183,\n      \"lon\": -121.98936197296294,\n      \"lat\": 37.377226353536884,\n\
  \      \"yaw_radians\": -0.029126348599085097,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.0578785,\n      \"lon\": -121.98936196532755,\n\
  \      \"lat\": 37.37722635405925,\n      \"yaw_radians\": -0.02918092417606491,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.0779078,\n      \"lon\": -121.98936196532755,\n      \"lat\": 37.37722635405925,\n\
  \      \"yaw_radians\": -0.02918092417606491,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.097917,\n      \"lon\": -121.98936196532755,\n\
  \      \"lat\": 37.37722635405925,\n      \"yaw_radians\": -0.02918092417606491,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.1179159,\n      \"lon\": -121.98936196532755,\n      \"lat\": 37.37722635405925,\n\
  \      \"yaw_radians\": -0.02918092417606491,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.137916,\n      \"lon\": -121.98936196532755,\n\
  \      \"lat\": 37.37722635405925,\n      \"yaw_radians\": -0.02918092417606491,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.157933,\n      \"lon\": -121.98936195768988,\n      \"lat\": 37.37722635455904,\n\
  \      \"yaw_radians\": -0.029235742231976086,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.1779308,\n      \"lon\": -121.98936195768988,\n\
  \      \"lat\": 37.37722635455904,\n      \"yaw_radians\": -0.029235742231976086,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.19792,\n      \"lon\": -121.98936195768988,\n      \"lat\": 37.37722635455904,\n\
  \      \"yaw_radians\": -0.029235742231976083,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.2179222,\n      \"lon\": -121.98936195768988,\n\
  \      \"lat\": 37.37722635455904,\n      \"yaw_radians\": -0.029235742231976076,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.2379365,\n      \"lon\": -121.98936195768988,\n      \"lat\": 37.37722635455904,\n\
  \      \"yaw_radians\": -0.029235742231976076,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.2579381,\n      \"lon\": -121.98936195035945,\n\
  \      \"lat\": 37.37722635497914,\n      \"yaw_radians\": -0.02929267700179845,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.2779195,\n      \"lon\": -121.98936195035945,\n      \"lat\": 37.37722635497914,\n\
  \      \"yaw_radians\": -0.02929267700179845,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.2979398,\n      \"lon\": -121.98936195035945,\n\
  \      \"lat\": 37.37722635497914,\n      \"yaw_radians\": -0.02929267700179845,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.3179426,\n      \"lon\": -121.98936195035945,\n      \"lat\": 37.37722635497914,\n\
  \      \"yaw_radians\": -0.02929267700179845,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.3379483,\n      \"lon\": -121.98936195035945,\n\
  \      \"lat\": 37.37722635497914,\n      \"yaw_radians\": -0.02929267700179845,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.3579516,\n      \"lon\": -121.98936194318152,\n      \"lat\": 37.37722635542068,\n\
  \      \"yaw_radians\": -0.029348968773156354,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.377949,\n      \"lon\": -121.98936194318152,\n\
  \      \"lat\": 37.37722635542068,\n      \"yaw_radians\": -0.029348968773156354,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    },\n    {\n      \"timestamp\"\
  : 1770755250.3979523,\n      \"lon\": -121.98936194318152,\n      \"lat\": 37.37722635542068,\n\
  \      \"yaw_radians\": -0.029348968773156354,\n      \"speed\": 0,\n      \"segment_id\"\
  : \"multi_loop_route_segment_3\",\n      \"segment_type\": \"parking_entrance\"\n\
  \    },\n    {\n      \"timestamp\": 1770755250.4179556,\n      \"lon\": -121.98936194318152,\n\
  \      \"lat\": 37.37722635542068,\n      \"yaw_radians\": -0.029348968773156354,\n\
  \      \"speed\": 0,\n      \"segment_id\": \"multi_loop_route_segment_3\",\n  \
  \    \"segment_type\": \"parking_entrance\"\n    }\n  ]\n}"
run_id: 1486ecf6-0c4b-11f1-b03a-3c6d6689259e
safety_shield:
  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:
        enabled: false
        width_scale: 1.3
      Approach.person:
        width_scale: 2.0
      Approach.vehicle:
        enabled: true
        width_scale: 2.0
      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:
        enabled: true
        width_scale: 1.0
    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
  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
  mode_topic: /ss_mode
  modes:
    Approach:
      description: Standard approach - wider safety margins
      mode_num: 1
    Disabled:
      description: Pure passthrough - no collision checking
      mode_num: -1
    RSU:
      description: RSU mode - object detection only
      mode_num: 0
    Scooch:
      description: Tight maneuvering - narrower margins
      mode_num: 2
  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: 4.5
  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
  topics:
    boundary: /obstacle/dab
    object_detection: /zed2i/zed_node/obj_det/objects
    trajectory_input: /recorded_vehicle_trajectory
    trajectory_output: /vehicle_trajectory_control
  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\": 37.37722827,\n    \"lon\": -121.9890556,\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\
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  : -121.98952237880296\n        },\n        {\n          \"lat\": 37.377308227277915,\n\
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  : 37.37727783448984,\n          \"lon\": -121.9893627778084\n        },\n      \
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  \        }\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      \
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  : 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     \
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  \        },\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\
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  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"multi_roi_route1_roi_5\",\n      \"search_type\": \"all\",\n    \
  \  \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n      \
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  : -121.98840374718213\n        },\n        {\n          \"lat\": 37.377270623013,\n\
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  : 37.37730648535235,\n          \"lon\": -121.98855960117157\n        }\n      ],\n\
  \      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"multi_roi_route1_roi_6\"\
  ,\n      \"search_type\": \"all\",\n      \"search_type_categories\": [],\n    \
  \  \"coordinates\": [\n        {\n          \"lat\": 37.377299227796655,\n     \
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  \        },\n        {\n          \"lat\": 37.377299227796655,\n          \"lon\"\
  : -121.98838326075062\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_roi_7\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
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  : -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      \"id\": \"demo-parking-entrance\",\n      \"search_type\"\
  : \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.377247961291374,\n          \"lon\": -121.98949012272845\n\
  \        },\n        {\n          \"lat\": 37.3772051734054,\n          \"lon\"\
  : -121.989386279686\n        },\n        {\n          \"lat\": 37.3772326799064,\n\
  \          \"lon\": -121.98937217754468\n        },\n        {\n          \"lat\"\
  : 37.377249998809035,\n          \"lon\": -121.98944140623935\n        },\n    \
  \    {\n          \"lat\": 37.377247961291374,\n          \"lon\": -121.98949012272845\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"demo-parking-entrance-p\",\n      \"search_type\": \"specific\",\n\
  \      \"search_type_categories\": [],\n      \"coordinates\": [\n        {\n  \
  \        \"lat\": 37.37724678807017,\n          \"lon\": -121.98952821167175\n \
  \       },\n        {\n          \"lat\": 37.37719965371835,\n          \"lon\"\
  : -121.9893969296696\n        },\n        {\n          \"lat\": 37.377236104286425,\n\
  \          \"lon\": -121.98936687716301\n        },\n        {\n          \"lat\"\
  : 37.37725307264839,\n          \"lon\": -121.98938981197074\n        },\n     \
  \   {\n          \"lat\": 37.37724678807017,\n          \"lon\": -121.98952821167175\n\
  \        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\n    },\n    {\n  \
  \    \"id\": \"demo-parking-exit\",\n      \"search_type\": \"all\",\n      \"search_type_categories\"\
  : [],\n      \"coordinates\": [\n        {\n          \"lat\": 37.37723279218278,\n\
  \          \"lon\": -121.98924496148305\n        },\n        {\n          \"lat\"\
  : 37.37721862911157,\n          \"lon\": -121.98920913164783\n        },\n     \
  \   {\n          \"lat\": 37.37725623010627,\n          \"lon\": -121.98916938508893\n\
  \        },\n        {\n          \"lat\": 37.37725547808655,\n          \"lon\"\
  : -121.98921954146063\n        },\n        {\n          \"lat\": 37.37723279218278,\n\
  \          \"lon\": -121.98924496148305\n        }\n      ],\n      \"infrapod_id\"\
  : \"FVLA-IPOD07\"\n    },\n    {\n      \"id\": \"demo-parking-exit-p\",\n     \
  \ \"search_type\": \"specific\",\n      \"search_type_categories\": [],\n      \"\
  coordinates\": [\n        {\n          \"lat\": 37.37724493019786,\n          \"\
  lon\": -121.98926579648935\n        },\n        {\n          \"lat\": 37.377214222857205,\n\
  \          \"lon\": -121.98919624033192\n        },\n        {\n          \"lat\"\
  : 37.37725823670854,\n          \"lon\": -121.98912153186623\n        },\n     \
  \   {\n          \"lat\": 37.377256189553336,\n          \"lon\": -121.98924518725748\n\
  \        },\n        {\n          \"lat\": 37.37724493019786,\n          \"lon\"\
  : -121.98926579648935\n        }\n      ],\n      \"infrapod_id\": \"FVLA-IPOD07\"\
  \n    },\n    {\n      \"id\": \"multi_roi_route1_33\",\n      \"search_type\":\
  \ \"all\",\n      \"search_type_categories\": [],\n      \"coordinates\": [\n  \
  \      {\n          \"lat\": 37.37716886511467,\n          \"lon\": -121.9892448446248\n\
  \        },\n        {\n          \"lat\": 37.37717271308598,\n          \"lon\"\
  : -121.98899062344739\n        },\n        {\n          \"lat\": 37.37714481528752,\n\
  \          \"lon\": -121.988984570562\n        },\n        {\n          \"lat\"\
  : 37.37714481528752,\n          \"lon\": -121.98924363404785\n        },\n     \
  \   {\n          \"lat\": 37.37716886511467,\n          \"lon\": -121.9892448446248\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/hotel.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:
    - 1.35237
    - -0.37012
    - 0.0
  tags_zed_left_cam:
    description: defined for zed2i left camera on roof rack for shuttle vehicle
    offset:
    - 1.4580807066035635
    - 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\": \"68bb4a8b75833b9f9019c173\",\n  \"vin\": \"NRC_Leaf_Hotel\"\
  ,\n  \"description\": {\n    \"year\": 2019.0,\n    \"model\": \"Nissan Leaf\",\n\
  \    \"trim\": \"SL\",\n    \"color\": \"white\"\n  }\n}"
vehicle_id: NRC_Leaf_Hotel
vtc_gen_node:
  dgp_sub_topic: /dynamic_global_pose
  enable_dm: true
  enable_error_stop: 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
  vehicle_drive_state_topic: /vehicle_drive_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
