Hello, I have some problems and need to ask you for advice. During the test, I carefully analyzed the result.json file I got, and I found that the length of all the routes were almost the same, but I observed the distance the agent was driving on each route, and I could clearly feel that the distances were not exactly the same. of. The test route I ran was Town05-short, and I checked the sample_result.json file you gave and found that the length of the route calculated in it is also the same, which I don’t think is reasonable. Later, I also analyzed the corresponding code for calculating the length of the route, and found that only the Euclidean distance of the two waypoints in Town05-short was calculated, which was unreasonable. In addition, I feel that the unit of distance is not very reasonable.
routeid(in Town05_short.xml)
the corresponding code for calculating the length of the route
def compute_route_length(config):
trajectory = config.trajectory
print('trajectory:', trajectory)
route_length = 0.0
previous_location = None
for location in trajectory:
print('location:', location)
if previous_location:
dist = math.sqrt((location.x-previous_location.x)*(location.x-previous_location.x) +
(location.y-previous_location.y)*(location.y-previous_location.y) +
(location.z - previous_location.z) * (location.z - previous_location.z))
route_length += dist
previous_location = location
return route_length
The printed output is as follows
trajectory: [<carla.libcarla.Location object at 0x7fae161d2cb0>, <carla.libcarla.Location object at 0x7fae161d2cf0>]
location: Location(x=72.750000, y=-215.149994, z=0.000000)
location: Location(x=22.750000, y=-265.149994, z=0.000000)
trajectory: [<carla.libcarla.Location object at 0x7fae161d2e30>, <carla.libcarla.Location object at 0x7fae161d2e70>]
location: Location(x=-163.149994, y=-78.949997, z=0.000000)
location: Location(x=-113.149994, y=-28.949997, z=0.000000)
trajectory: [<carla.libcarla.Location object at 0x7fae161d2fb0>, <carla.libcarla.Location object at 0x7fae161d4030>]
location: Location(x=-163.149994, y=11.599999, z=0.000000)
location: Location(x=-113.149994, y=61.599998, z=0.000000)
trajectory: [<carla.libcarla.Location object at 0x7fae161d4170>, <carla.libcarla.Location object at 0x7fae161d41b0>]
location: Location(x=-229.349991, y=12.450000, z=0.000000)
location: Location(x=-179.349991, y=62.450001, z=0.000000)
trajectory: [<carla.libcarla.Location object at 0x7fae161d42f0>, <carla.libcarla.Location object at 0x7fae161d4330>]
location: Location(x=-9.150002, y=216.349991, z=0.000000)
location: Location(x=40.849998, y=266.350006, z=0.000000)
The above is my analysis process。
Please help to check if there is a problem with unit conversion in this place.This variable route_length_kms
for key in global_record.infractions.keys():
route_length_kms = max(route_record.scores['score_route'] * route_record.meta['route_length'] / 1000.0, 0.001)
# print('route_length_kms:', route_length_kms)
if isinstance(global_record.infractions[key], list):
global_record.infractions[key] = len(route_record.infractions[key]) / route_length_kms
# print('global_record1'+key, global_record.infractions[key])
else:
global_record.infractions[key] += len(route_record.infractions[key]) / route_length_kms
# print('global_record2' + key, global_record.infractions[key])
The following is the result of my actual test of the entire 32 routes, and I can find that the length of the routes is almost the same.
{
"_checkpoint": {
"global_record": {
"index": -1,
"infractions": {
"collisions_layout": 2.8715065885454454,
"collisions_pedestrian": 0.0,
"collisions_vehicle": 1.0227292963792376,
"outside_route_lanes": 3.6858155387424802,
"red_light": 0.8050101972767116,
"route_dev": 0.0,
"route_timeout": 3.2362850377922685,
"stop_infraction": 0.28284271247461895,
"vehicle_blocked": 0.3156225165413895
},
"meta": {
"exceptions": [
[
"RouteScenario_1",
1,
"Failed - Agent timed out"
],
[
"RouteScenario_3",
3,
"Failed - Agent timed out"
],
[
"RouteScenario_11",
11,
"Failed - Agent timed out"
],
[
"RouteScenario_12",
12,
"Failed - Agent timed out"
],
[
"RouteScenario_15",
15,
"Failed - Agent timed out"
],
[
"RouteScenario_17",
17,
"Failed - Agent timed out"
],
[
"RouteScenario_18",
18,
"Failed - Agent timed out"
],
[
"RouteScenario_19",
19,
"Failed - Agent got blocked"
],
[
"RouteScenario_21",
21,
"Failed - Agent timed out"
],
[
"RouteScenario_30",
30,
"Failed - Agent got blocked"
]
]
},
"route_id": -1,
"scores": {
"score_composed": 59.377711080823985,
"score_penalty": 0.7169920628092165,
"score_route": 85.88632460228627
},
"status": "Failed"
},
"progress": [
32,
32
],
"records": [
{
"index": 0,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.fence and id=0 at (x=24.565, y=-124.058, z=0.093)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 1.0 meters (0.74% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 55.60000082850456,
"duration_system": 229.1740369796753,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_0",
"scores": {
"score_composed": 64.5181521493852,
"score_penalty": 0.645181521493852,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 1,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 82.10000122338533,
"duration_system": 315.976313829422,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_1",
"scores": {
"score_composed": 15.816533902953283,
"score_penalty": 1.0,
"score_route": 15.816533902953283
},
"status": "Failed - Agent timed out"
},
{
"index": 2,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 135.50000201910734,
"duration_system": 537.7416558265686,
"route_length": 70.71068081605311
},
"route_id": "RouteScenario_2",
"scores": {
"score_composed": 100.0,
"score_penalty": 1.0,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 3,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 84.10000125318766,
"duration_system": 338.4886083602905,
"route_length": 70.71067542125691
},
"route_id": "RouteScenario_3",
"scores": {
"score_composed": 45.504720599849136,
"score_penalty": 1.0,
"score_route": 45.504720599849136
},
"status": "Failed - Agent timed out"
},
{
"index": 4,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 9.400000140070915,
"duration_system": 36.520349740982056,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_4",
"scores": {
"score_composed": 100.0,
"score_penalty": 1.0,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 5,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.fence and id=0 at (x=-96.11, y=-148.139, z=0.144)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 54.30000080913305,
"duration_system": 209.91269731521606,
"route_length": 70.71067272385835
},
"route_id": "RouteScenario_5",
"scores": {
"score_composed": 65.0,
"score_penalty": 0.65,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 6,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.fence and id=0 at (x=21.891, y=-24.725, z=0.106)",
"Agent collided against object with type=static.vegetation and id=0 at (x=-41.497, y=-73.352, z=0.182)",
"Agent collided against object with type=static.fence and id=0 at (x=-96.643, y=-148.105, z=0.145)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 7.553 meters (2.24% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 188.30000280588865,
"duration_system": 713.6245098114014,
"route_length": 70.71067272385835
},
"route_id": "RouteScenario_6",
"scores": {
"score_composed": 26.848361753139287,
"score_penalty": 0.2684836175313929,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 7,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.fence and id=0 at (x=21.728, y=-24.807, z=0.098)",
"Agent collided against object with type=static.vegetation and id=0 at (x=-41.953, y=-70.59, z=0.126)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 3.019 meters (1.35% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 141.00000210106373,
"duration_system": 534.5629999637604,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_7",
"scores": {
"score_composed": 41.67981150619306,
"score_penalty": 0.41679811506193065,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 8,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.fence and id=0 at (x=22.144, y=-25.445, z=0.103)",
"Agent collided against object with type=static.vegetation and id=0 at (x=-41.951, y=-71.962, z=0.125)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 2.009 meters (0.59% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 213.80000318586826,
"duration_system": 810.2113950252533,
"route_length": 70.71067272385835
},
"route_id": "RouteScenario_8",
"scores": {
"score_composed": 41.99945519646888,
"score_penalty": 0.4199945519646888,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 9,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.wall and id=0 at (x=-58.828, y=-24.497, z=0.198)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [
"Agent collided against object with type=vehicle.tesla.model3 and id=2471 at (x=-57.293, y=-19.831, z=0.201)"
],
"outside_route_lanes": [
"Agent went outside its route lanes for about 17.978 meters (5.69% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 258.50000385195017,
"duration_system": 1026.7993097305298,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_9",
"scores": {
"score_composed": 36.78218670588869,
"score_penalty": 0.3678218670588869,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 10,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 11.006 meters (3.48% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 200.20000298321247,
"duration_system": 787.2652983665466,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_10",
"scores": {
"score_composed": 96.51864630799476,
"score_penalty": 0.9651864630799476,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 11,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 8.0 meters (11.34% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 232.1000034585595,
"duration_system": 890.8772931098938,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_11",
"scores": {
"score_composed": 21.975608873219713,
"score_penalty": 0.8866090267556594,
"score_route": 24.786132568077235
},
"status": "Failed - Agent timed out"
},
{
"index": 12,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 7.0 meters (10.06% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 232.1000034585595,
"duration_system": 887.9825072288513,
"route_length": 70.71067811865476
},
"route_id": "RouteScenario_12",
"scores": {
"score_composed": 21.975609543300838,
"score_penalty": 0.8993564189036121,
"score_route": 24.43481703292992
},
"status": "Failed - Agent timed out"
},
{
"index": 13,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [
"Agent collided against object with type=vehicle.tesla.model3 and id=3405 at (x=-160.644, y=5.684, z=0.033)"
],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 28.200000420212746,
"duration_system": 115.39388585090637,
"route_length": 70.71067879300433
},
"route_id": "RouteScenario_13",
"scores": {
"score_composed": 60.0,
"score_penalty": 0.6,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 14,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 15.087 meters (5.07% of the completed route)"
],
"red_light": [
"Agent ran a red light 3576 at (x=-139.8, y=77.85, z=0.0)"
],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 132.8000019788742,
"duration_system": 521.3502044677734,
"route_length": 70.71067744430518
},
"route_id": "RouteScenario_14",
"scores": {
"score_composed": 66.4543919704123,
"score_penalty": 0.664543919704123,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 15,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 5.0 meters (2.94% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 245.1000036522746,
"duration_system": 948.3015851974487,
"route_length": 70.71067744430518
},
"route_id": "RouteScenario_15",
"scores": {
"score_composed": 54.89453188665499,
"score_penalty": 0.970574924380384,
"score_route": 56.55877821251122
},
"status": "Failed - Agent timed out"
},
{
"index": 16,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 2.0 meters (1.01% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 107.60000160336494,
"duration_system": 415.7183201313019,
"route_length": 70.71067744430518
},
"route_id": "RouteScenario_16",
"scores": {
"score_composed": 98.99458408795041,
"score_penalty": 0.9899458408795042,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 17,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 248.1000036969781,
"duration_system": 972.11772108078,
"route_length": 70.71067879300433
},
"route_id": "RouteScenario_17",
"scores": {
"score_composed": 67.45627731531455,
"score_penalty": 1.0,
"score_route": 67.45627731531455
},
"status": "Failed - Agent timed out"
},
{
"index": 18,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 7.0 meters (3.39% of the completed route)"
],
"red_light": [],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 248.1000036969781,
"duration_system": 978.5529363155365,
"route_length": 70.71067879300433
},
"route_id": "RouteScenario_18",
"scores": {
"score_composed": 65.48667782332225,
"score_penalty": 0.966100446604399,
"score_route": 67.78454357773202
},
"status": "Failed - Agent timed out"
},
{
"index": 19,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.fence and id=0 at (x=-89.723, y=156.914, z=0.162)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [
"Agent collided against object with type=vehicle.chevrolet.impala and id=4826 at (x=30.472, y=66.293, z=0.034)"
],
"outside_route_lanes": [
"Agent went outside its route lanes for about 6.946 meters (1.64% of the completed route)"
],
"red_light": [
"Agent ran a red light 4809 at (x=40.25, y=-11.1, z=0.0)"
],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": [
"Agent got blocked at (x=-90.048, y=157.088, z=0.162)"
]
},
"meta": {
"duration_game": 325.50000485032797,
"duration_system": 1251.3523309230804,
"route_length": 70.71067272385835
},
"route_id": "RouteScenario_19",
"scores": {
"score_composed": 22.73413419766088,
"score_penalty": 0.26852969603891597,
"score_route": 84.66152732085986
},
"status": "Failed - Agent got blocked"
},
{
"index": 20,
"infractions": {
"collisions_layout": [],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 41.50000061839819,
"duration_system": 156.86240601539612,
"route_length": 70.71066732906154
},
"route_id": "RouteScenario_20",
"scores": {
"score_composed": 100.0,
"score_penalty": 1.0,
"score_route": 100.0
},
"status": "Completed"
},
{
"index": 21,
"infractions": {
"collisions_layout": [
"Agent collided against object with type=static.fence and id=0 at (x=-211.543, y=9.44, z=0.116)",
"Agent collided against object with type=static.vegetation and id=0 at (x=-152.822, y=80.251, z=0.148)"
],
"collisions_pedestrian": [],
"collisions_vehicle": [],
"outside_route_lanes": [
"Agent went outside its route lanes for about 4.0 meters (2.1% of the completed route)"
],
"red_light": [
"Agent ran a red light 5276 at (x=-138.8, y=100.05, z=0.0)"
],
"route_dev": [],
"route_timeout": [
"Route timeout."
],
"stop_infraction": [],
"vehicle_blocked": []
},
"meta": {
"duration_game": 235.100003503263,
"duration_system": 953.9440562725067,
"route_length": 70.71067879300433
},
"route_id": "RouteScenario_21",
"scores": {
"score_composed": 19.161593966606734,
"score_penalty": 0.2895522928174864,
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{
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"Agent collided against object with type=vehicle.tesla.model3 and id=5626 at (x=-145.848, y=-87.496, z=0.033)",
"Agent collided against object with type=vehicle.audi.a2 and id=5574 at (x=25.94, y=-200.206, z=0.034)"
],
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"Agent went outside its route lanes for about 9.899 meters (0.82% of the completed route)"
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{
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{
"index": 24,
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"collisions_layout": [],
"collisions_pedestrian": [],
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"outside_route_lanes": [],
"red_light": [],
"route_dev": [],
"route_timeout": [],
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},
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},
{
"index": 25,
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"collisions_layout": [],
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"outside_route_lanes": [
"Agent went outside its route lanes for about 8.444 meters (2.37% of the completed route)"
],
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"Agent ran a red light 6255 at (x=-112.3, y=159.4, z=0.0)"
],
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"Agent ran a stop with id=6178 at (x=-174.012, y=87.973, z=0.0)"
],
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{
"index": 26,
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"Agent collided against object with type=static.fence and id=0 at (x=-42.152, y=108.564, z=0.121)",
"Agent collided against object with type=static.static and id=0 at (x=-40.565, y=19.822, z=0.156)"
],
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"Agent collided against object with type=vehicle.seat.leon and id=6616 at (x=36.179, y=-171.243, z=0.033)"
],
"outside_route_lanes": [
"Agent went outside its route lanes for about 2.021 meters (0.16% of the completed route)"
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{
"index": 27,
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"outside_route_lanes": [
"Agent went outside its route lanes for about 1.0 meters (0.07% of the completed route)"
],
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{
"index": 28,
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"Agent collided against object with type=static.guardrail and id=0 at (x=2.22, y=201.634, z=0.034)",
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{
"index": 29,
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{
"index": 30,
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"Agent collided against object with type=static.guardrail and id=0 at (x=51.045, y=-200.472, z=0.034)",
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],
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"Agent collided against object with type=vehicle.tesla.cybertruck and id=7561 at (x=61.317, y=-201.295, z=0.033)"
],
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},
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{
"index": 31,
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]
},
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"labels": [
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