Select time: t = 0.53t = 0.58t = 0.63t = 0.68t = 0.73t = 0.78t = 0.83t = 0.88t = 0.93t = 0.98t = 1.03t = 1.08t = 1.13t = 1.18t = 1.23t = 1.28t = 1.33t = 1.38t = 1.43t = 1.48t = 1.53t = 1.58t = 1.63t = 1.68t = 1.73t = 1.78t = 1.83t = 1.88t = 1.93t = 1.98t = 2.03t = 2.08t = 2.13t = 2.18t = 2.23t = 2.28t = 2.33t = 2.38t = 2.43t = 2.48t = 2.53t = 2.58t = 2.63t = 2.68t = 2.73t = 2.78t = 2.83t = 2.88t = 2.93t = 2.98t = 3.03t = 3.08t = 3.13t = 3.18t = 3.23t = 3.28t = 3.33t = 3.38t = 3.43t = 3.48t = 3.53t = 3.58t = 3.63t = 3.68t = 3.73t = 3.78t = 3.83t = 3.88t = 3.93t = 3.98t = 4.03t = 4.08t = 4.13t = 4.18t = 4.23t = 4.28t = 4.33t = 4.38t = 4.43t = 4.48t = 4.53t = 4.58t = 4.63t = 4.68t = 4.73t = 4.78t = 4.83t = 4.88t = 4.93t = 4.98t = 5.03t = 5.08t = 5.13t = 5.18t = 5.23t = 5.28t = 5.33t = 5.38t = 5.43t = 5.48t = 5.53t = 5.58t = 5.63t = 5.68t = 5.73t = 5.78t = 5.83t = 5.88t = 5.93t = 5.98t = 6.03t = 6.08t = 6.13t = 6.18t = 6.23t = 6.28t = 6.33t = 6.38t = 6.43t = 6.48t = 6.53t = 6.58t = 6.63t = 6.68t = 6.73t = 6.78t = 6.83t = 6.88t = 6.93t = 6.98t = 7.03t = 7.08t = 7.13t = 7.18t = 7.23t = 7.28t = 7.33t = 7.38t = 7.43t = 7.48t = 7.53t = 7.58t = 7.63t = 7.68t = 7.73t = 7.78t = 7.83t = 7.88t = 7.93t = 7.98t = 8.03t = 8.08t = 8.13t = 8.18t = 8.23t = 8.28t = 8.33t = 8.38t = 8.43t = 8.48t = 8.53t = 8.58t = 8.63t = 8.68t = 8.73t = 8.78t = 8.83t = 8.88t = 8.93t = 8.98t = 9.03t = 9.08t = 9.13t = 9.18t = 9.23t = 9.28t = 9.33t = 9.38t = 9.43t = 9.48t = 9.53t = 9.58t = 9.63t = 9.68t = 9.73t = 9.78t = 9.83t = 9.88t = 9.93t = 9.98t = 10.03t = 10.08t = 10.13t = 10.18t = 10.23t = 10.28t = 10.33t = 10.38t = 10.43t = 10.48t = 10.53t = 10.58t = 10.63t = 10.68t = 10.73t = 10.78t = 10.83t = 10.88t = 10.93t = 10.98t = 11.03t = 11.08t = 11.13t = 11.18t = 11.23t = 11.28t = 11.33t = 11.38t = 11.43t = 11.48t = 11.53t = 11.58t = 11.63t = 11.68t = 11.73t = 11.78t = 11.83t = 11.88t = 11.93t = 11.98t = 12.03t = 12.08t = 12.13t = 12.18t = 12.23t = 12.28t = 12.33t = 12.38t = 12.43t = 12.48t = 12.53t = 12.58t = 12.63t = 12.68t = 12.73t = 12.78t = 12.83t = 12.88t = 12.93t = 12.98t = 13.03t = 13.08t = 13.13t = 13.18t = 13.23t = 13.28t = 13.33t = 13.38t = 13.43t = 13.48t = 13.53t = 13.58t = 13.63t = 13.68t = 13.73t = 13.78t = 13.83t = 13.88t = 13.93t = 13.98t = 14.03t = 14.08t = 14.13t = 14.18t = 14.23t = 14.28t = 14.33t = 14.38t = 14.43t = 14.48t = 14.53t = 14.58t = 14.63t = 14.68t = 14.73t = 14.78t = 14.83t = 14.88t = 14.93t = 14.98t = 15.03t = 15.08t = 15.13t = 15.18t = 15.23t = 15.28t = 15.33t = 15.38t = 15.43t = 15.48t = 15.53t = 15.58t = 15.63t = 15.68t = 15.73t = 15.78t = 15.83t = 15.88t = 15.93t = 15.98t = 16.03t = 16.08t = 16.13t = 16.18t = 16.23t = 16.28t = 16.33t = 16.38t = 16.43t = 16.48t = 16.53t = 16.58t = 16.63t = 16.68t = 16.73t = 16.78t = 16.83t = 16.88t = 16.93t = 16.98t = 17.03t = 17.08t = 17.13t = 17.18t = 17.23t = 17.28t = 17.33t = 17.38t = 17.43t = 17.48t = 17.53t = 17.58t = 17.63t = 17.68t = 17.73t = 17.78t = 17.83t = 17.88t = 17.93t = 17.98t = 18.03t = 18.08t = 18.13t = 18.18t = 18.23t = 18.28t = 18.33t = 18.38t = 18.43t = 18.48t = 18.53t = 18.58t = 18.63t = 18.68t = 18.73t = 18.78t = 18.83t = 18.88t = 18.93t = 18.98t = 19.03t = 19.08t = 19.13t = 19.18t = 19.23t = 19.28t = 19.33t = 19.38t = 19.43t = 19.48t = 19.53t = 19.58t = 19.63t = 19.68t = 19.73t = 19.78t = 19.83t = 19.88t = 19.93t = 19.98t = 20.03t = 20.08t = 20.13t = 20.18t = 20.23t = 20.28t = 20.33t = 20.38t = 20.43t = 20.48t = 20.53t = 20.58t = 20.63t = 20.68t = 20.73t = 20.78t = 20.83t = 20.88t = 20.93t = 20.98t = 21.03t = 21.08t = 21.13t = 21.18t = 21.23t = 21.28t = 21.33t = 21.38t = 21.43t = 21.48t = 21.53t = 21.58t = 21.63t = 21.68t = 21.73t = 21.78t = 21.83t = 21.88t = 21.93t = 21.98t = 22.03t = 22.08t = 22.13t = 22.18t = 22.23t = 22.28t = 22.33t = 22.38t = 22.43t = 22.48t = 22.53t = 22.58t = 22.63t = 22.68t = 22.73t = 22.78t = 22.83t = 22.88t = 22.93t = 22.98t = 23.03t = 23.08t = 23.13t = 23.18t = 23.23t = 23.28t = 23.33t = 23.38t = 23.43t = 23.48t = 23.53t = 23.58t = 23.63t = 23.68t = 23.73t = 23.78t = 23.83t = 23.88t = 23.93t = 23.98t = 24.03t = 24.08t = 24.13t = 24.18t = 24.23t = 24.28t = 24.33t = 24.38t = 24.43t = 24.48t = 24.53t = 24.58t = 24.63t = 24.68t = 24.73t = 24.78t = 24.83t = 24.88t = 24.93t = 24.98t = 25.03t = 25.08t = 25.13t = 25.18t = 25.23t = 25.28t = 25.33t = 25.38t = 25.43t = 25.48t = 25.53t = 25.58t = 25.63t = 25.68t = 25.73t = 25.78t = 25.83t = 25.88t = 25.93t = 25.98t = 26.03t = 26.08t = 26.13t = 26.18t = 26.23t = 26.28t = 26.33t = 26.38t = 26.43t = 26.48t = 26.53t = 26.58t = 26.63t = 26.68t = 26.73t = 26.78t = 26.83t = 26.88t = 26.93t = 26.98t = 27.03t = 27.08t = 27.13t = 27.18t = 27.23t = 27.28t = 27.33t = 27.38t = 27.43t = 27.48t = 27.53t = 27.58t = 27.63t = 27.68t = 27.73t = 27.78t = 27.83t = 27.88t = 27.93t = 27.98t = 28.03t = 28.08t = 28.13t = 28.18t = 28.23t = 28.28t = 28.33t = 28.38t = 28.43t = 28.48t = 28.53t = 28.58t = 28.63t = 28.68t = 28.73t = 28.78t = 28.83t = 28.88t = 28.93t = 28.98t = 29.03t = 29.08t = 29.13t = 29.18t = 29.23t = 29.28t = 29.33t = 29.38t = 29.43t = 29.48t = 29.53t = 29.58t = 29.63t = 29.68t = 29.73t = 29.78t = 29.83t = 29.88t = 29.93t = 29.98t = 30.03t = 30.08t = 30.13t = 30.18t = 30.23t = 30.28t = 30.33t = 30.38t = 30.43t = 30.48t = 30.53t = 30.58t = 30.63t = 30.68t = 30.73t = 30.78t = 30.83t = 30.88t = 30.93t = 30.98t = 31.03t = 31.08t = 31.13t = 31.18t = 31.23t = 31.28t = 31.33t = 31.38t = 31.43t = 31.48t = 31.53t = 31.58t = 31.63t = 31.68t = 31.73t = 31.78t = 31.83t = 31.88t = 31.93t = 31.98t = 32.03t = 32.08t = 32.13t = 32.18t = 32.23t = 32.28t = 32.33t = 32.38t = 32.43t = 32.48t = 32.53t = 32.58t = 32.63t = 32.68t = 32.73t = 32.78t = 32.83t = 32.88t = 32.93t = 32.98t = 33.03t = 33.08t = 33.13t = 33.18t = 33.23t = 33.28t = 33.33t = 33.38t = 33.43t = 33.48t = 33.53t = 33.58t = 33.63t = 33.68t = 33.73t = 33.78t = 33.83t = 33.88t = 33.93t = 33.98t = 34.03t = 34.08t = 34.13t = 34.18t = 34.23t = 34.28t = 34.33t = 34.38t = 34.43t = 34.48t = 34.53t = 34.58t = 34.63t = 34.68t = 34.73t = 34.78t = 34.83t = 34.88t = 34.93t = 34.98t = 35.03t = 35.08t = 35.13t = 35.18t = 35.23t = 35.28t = 35.33t = 35.38t = 35.43t = 35.48t = 35.53t = 35.58t = 35.63t = 35.68t = 35.73t = 35.78t = 35.83t = 35.88t = 35.93t = 35.98t = 36.03t = 36.08t = 36.13t = 36.18t = 36.23t = 36.28t = 36.33t = 36.38t = 36.43t = 36.48t = 36.53t = 36.58t = 36.63t = 36.68t = 36.73t = 36.78t = 36.83t = 36.88t = 36.93t = 36.98t = 37.03t = 37.08t = 37.13t = 37.18t = 37.23t = 37.28t = 37.33t = 37.38t = 37.43t = 37.48t = 37.53t = 37.58t = 37.63t = 37.68t = 37.73t = 37.78t = 37.83t = 37.88t = 37.93t = 37.98t = 38.03t = 38.08t = 38.13t = 38.18t = 38.23t = 38.28t = 38.33t = 38.38t = 38.43t = 38.48t = 38.53t = 38.58t = 38.63t = 38.68t = 38.73t = 38.78t = 38.83t = 38.88t = 38.93t = 38.98t = 39.03t = 39.08t = 39.13t = 39.18t = 39.23t = 39.28t = 39.33t = 39.38t = 39.43t = 39.48t = 39.53t = 39.58t = 39.63t = 39.68t = 39.73t = 39.78t = 39.83t = 39.88t = 39.93t = 39.98t = 40.03t = 40.08t = 40.13t = 40.18t = 40.23t = 40.28t = 40.33t = 40.38t = 40.43t = 40.48t = 40.53t = 40.58t = 40.63t = 40.68t = 40.73t = 40.78t = 40.83t = 40.88t = 40.93t = 40.98t = 41.03t = 41.08t = 41.13t = 41.18t = 41.23t = 41.28t = 41.33t = 41.38t = 41.43t = 41.48t = 41.53t = 41.58t = 41.63t = 41.68t = 41.73t = 41.78t = 41.83t = 41.88t = 41.93t = 41.98t = 42.03t = 42.08t = 42.13t = 42.18t = 42.23t = 42.28t = 42.33t = 42.38t = 42.43t = 42.48t = 42.53t = 42.58t = 42.63t = 42.68t = 42.73t = 42.78t = 42.83t = 42.88t = 42.93t = 42.98t = 43.03t = 43.08t = 43.13t = 43.18t = 43.23t = 43.28t = 43.33t = 43.38t = 43.43t = 43.48t = 43.53t = 43.58t = 43.63t = 43.68t = 43.73t = 43.78t = 43.83t = 43.88t = 43.93t = 43.98t = 44.03t = 44.08t = 44.13t = 44.18t = 44.23t = 44.28t = 44.33t = 44.38t = 44.43t = 44.48t = 44.53t = 44.58t = 44.63t = 44.68t = 44.73t = 44.78t = 44.83t = 44.88t = 44.93t = 44.98t = 45.03t = 45.08t = 45.13t = 45.18t = 45.23t = 45.28t = 45.33t = 45.38t = 45.43t = 45.48t = 45.53t = 45.58t = 45.63t = 45.68t = 45.73t = 45.78t = 45.83t = 45.88t = 45.93t = 45.98t = 46.03t = 46.08t = 46.13t = 46.18t = 46.23t = 46.28t = 46.33t = 46.38t = 46.43t = 46.48t = 46.53t = 46.58t = 46.63t = 46.68t = 46.73t = 46.78t = 46.83t = 46.88t = 46.93t = 46.98t = 47.03t = 47.08t = 47.13t = 47.18t = 47.23t = 47.28t = 47.33t = 47.38t = 47.43t = 47.48t = 47.53t = 47.58t = 47.63t = 47.68t = 47.73t = 47.78t = 47.83t = 47.88t = 47.93t = 47.98t = 48.03t = 48.08t = 48.13t = 48.18t = 48.23t = 48.28t = 48.33t = 48.38t = 48.43t = 48.48t = 48.53t = 48.58t = 48.63t = 48.68t = 48.73t = 48.78t = 48.83t = 48.88t = 48.93t = 48.98t = 49.03t = 49.08t = 49.13t = 49.18t = 49.23t = 49.28t = 49.33t = 49.38t = 49.43t = 49.48t = 49.53t = 49.58t = 49.63t = 49.68t = 49.73t = 49.78t = 49.83t = 49.88t = 49.93t = 49.98t = 50.03t = 50.08t = 50.13t = 50.18t = 50.23t = 50.28t = 50.33t = 50.38t = 50.43t = 50.48t = 50.53t = 50.58t = 50.63t = 50.68t = 50.73t = 50.78t = 50.83t = 50.88t = 50.93t = 50.98t = 51.03t = 51.08t = 51.13t = 51.18t = 51.23t = 51.28t = 51.33t = 51.38t = 51.43t = 51.48t = 51.53t = 51.58t = 51.63t = 51.68t = 51.73t = 51.78t = 51.83t = 51.88t = 51.93t = 51.98t = 52.03t = 52.08t = 52.13t = 52.18t = 52.23t = 52.28t = 52.33t = 52.38t = 52.43t = 52.48t = 52.53t = 52.58t = 52.63t = 52.68t = 52.73t = 52.78t = 52.83t = 52.88t = 52.93t = 52.98t = 53.03t = 53.08t = 53.13t = 53.18t = 53.23t = 53.28t = 53.33t = 53.38t = 53.43t = 53.48t = 53.53t = 53.58t = 53.63t = 53.68t = 53.73t = 53.78t = 53.83t = 53.88t = 53.93t = 53.98t = 54.03t = 54.08t = 54.13t = 54.18t = 54.23t = 54.28t = 54.33t = 54.38t = 54.43t = 54.48t = 54.53t = 54.58t = 54.63t = 54.68t = 54.73t = 54.78t = 54.83t = 54.88t = 54.93t = 54.98t = 55.03t = 55.08t = 55.13t = 55.18t = 55.23t = 55.28t = 55.33t = 55.38t = 55.43t = 55.48t = 55.53t = 55.58t = 55.63t = 55.68t = 55.73t = 55.78t = 55.83t = 55.88t = 55.93t = 55.98t = 56.03t = 56.08t = 56.13t = 56.18t = 56.23t = 56.28t = 56.33t = 56.38t = 56.43t = 56.48t = 56.53t = 56.58t = 56.63t = 56.68t = 56.73t = 56.78t = 56.83t = 56.88t = 56.93t = 56.98t = 57.03t = 57.08t = 57.13t = 57.18t = 57.23t = 57.28t = 57.33t = 57.38t = 57.43t = 57.48t = 57.53t = 57.58t = 57.63t = 57.68t = 57.73t = 57.78t = 57.83t = 57.88t = 57.93t = 57.98t = 58.03t = 58.08t = 58.13t = 58.18t = 58.23t = 58.28t = 58.33t = 58.38t = 58.43t = 58.48t = 58.53t = 58.58t = 58.63t = 58.68t = 58.73t = 58.78t = 58.83t = 58.88t = 58.93t = 58.98t = 59.03t = 59.08t = 59.13t = 59.18t = 59.23t = 59.28t = 59.33t = 59.38t = 59.43

static data textures axes
map lane segments (control points)

vehicles duckies signs signs textures decorations

current lane anchor point

ego0

This metric describes the amount of deviation from the relative heading.

This metric computes whether the robot was in a drivable area.

Note that we check that the robot is in the lane in a correct heading (up to 90deg deviation from the lane direction).

This metric describes the amount of deviation from the center line.

This metric computes how far the robot drove.

This metric computes how far the robot drove in the direction of the lane.

This metric computes how far the robot drove in the direction of the correct lane, discounting whenever it was driven in the wrong direction with respect to the start.

Length of the episode.

Distance from the starting point.

Velocities in body frame. Given in m/s and deg/s.