[CFG] route_target_length overridden to 500 m (soft window 470–540 m)
Mode: eval
Device: cpu
GlobalRoutePlanner available: True
Python: 3.10.19
Source town: Town10HD_Opt | goal=40 | NPC=[8, 20]
Target town: Town10HD_Opt | goal=auto | NPC=[0, 2]
Weather: source=night_rain_fog target=mixed
Safety shield: False
beta0 candidates: (0.5, 1.0) | auto-select=True
Follow ego view: True
No rendering: False
Output dir: /home/umb/Desktop/car2/culrt_carla_0915_aligned
Auto-selected route target length: 500m ± 30m
Train steps: 500000 | Adapt steps cap: 50000 | Adapt episodes: 100
Checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
Episodes: 20
[OK] Loaded checkpoint.
==========================================================================================
Evaluating on Town10HD_Opt | goal=auto | weather=mixed
[OK] Connected to CARLA | host=localhost port=2200 town=Town10HD_Opt sync=True dt=0.050s weather=mixed fixed_goal_index=-1
Resolved target env town: Town10HD_Opt
[WARN] planner auto-route unavailable from spawn 120 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=31.17% dL=3.50m
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=120 goal_idx=None route_len=374.5m spawn=(-103.2,-2.2,-0.0) yaw=-89.4 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=31.2% goal=257.76m dL=3.50 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.31km/h thr=0.49 brk=0.00 str=-0.94 safe=0 progress=31.2% goal=257.75m dL=3.50 ttc=46.65s tl=None credit=0 reason=
[STEP] step=0040 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=35.71s tl=None credit=0 reason=
[STEP] step=0060 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.91 safe=0 progress=31.3% goal=257.21m dL=3.07 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=01 R=32.86 steps=280 success=0 progress=31.3% DS=0.00 intv=0.000 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 217 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 154 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=27.46m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=154 goal_idx=None route_len=390.2m spawn=(106.4,-12.7,-0.0) yaw=-89.9 start_progress=0.00% start_dL=0.01
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=390.21m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=0.0% goal=390.21m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.10km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.4% goal=388.61m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 11.33km/h thr=0.00 brk=0.48 str=+0.04 safe=0 progress=1.5% goal=384.43m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.62 str=-0.15 safe=0 progress=1.8% goal=383.30m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  8.57km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=1.9% goal=382.71m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 15.38km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=2.9% goal=378.77m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  6.78km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=3.7% goal=375.74m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=3.7% goal=375.66m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 14.60km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=4.2% goal=373.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 12.00km/h thr=0.00 brk=0.30 str=-0.03 safe=0 progress=5.3% goal=369.58m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.14 safe=0 progress=5.7% goal=367.92m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  4.90km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=5.8% goal=367.71m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.40km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=6.6% goal=364.28m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  8.44km/h thr=0.00 brk=0.35 str=-0.10 safe=0 progress=7.5% goal=360.76m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=7.7% goal=360.26m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 12.20km/h thr=0.65 brk=0.00 str=-0.18 safe=1 progress=8.0% goal=359.09m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.60km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=9.0% goal=354.92m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.17 safe=0 progress=9.6% goal=352.62m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  1.46km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=9.6% goal=352.59m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.71km/h thr=0.42 brk=0.00 str=+0.17 safe=1 progress=10.3% goal=349.88m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 10.11km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=11.3% goal=345.98m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=11.6% goal=345.00m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  8.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=11.7% goal=344.43m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.48km/h thr=0.00 brk=0.24 str=+0.00 safe=0 progress=12.7% goal=340.48m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  5.33km/h thr=0.00 brk=0.38 str=-0.11 safe=0 progress=13.5% goal=337.45m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=13.5% goal=337.42m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.76km/h thr=0.42 brk=0.00 str=+0.14 safe=1 progress=14.1% goal=335.31m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 11.30km/h thr=0.00 brk=0.31 str=-0.02 safe=0 progress=15.1% goal=331.23m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=15.5% goal=329.83m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  5.76km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=15.5% goal=329.55m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.39km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=16.5% goal=325.95m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed=  7.95km/h thr=0.00 brk=0.37 str=-0.14 safe=0 progress=17.3% goal=322.55m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.15 safe=0 progress=17.4% goal=322.23m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 14.00km/h thr=0.75 brk=0.00 str=-0.16 safe=1 progress=17.8% goal=320.70m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.33km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=19.0% goal=316.09m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.19 safe=0 progress=19.6% goal=313.56m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  1.61km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=19.7% goal=313.53m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 17.23km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=20.4% goal=310.70m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 12.13km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=21.5% goal=306.31m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.12 safe=0 progress=21.9% goal=304.74m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  5.70km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=22.0% goal=304.45m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 17.81km/h thr=0.12 brk=0.00 str=+0.03 safe=0 progress=23.0% goal=300.65m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed=  9.80km/h thr=0.00 brk=0.44 str=-0.02 safe=0 progress=23.9% goal=296.77m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.26 safe=0 progress=24.1% goal=296.01m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 10.25km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=24.4% goal=295.16m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 16.99km/h thr=0.12 brk=0.00 str=+0.09 safe=0 progress=25.5% goal=290.71m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.61km/h thr=0.17 brk=0.00 str=+0.01 safe=0 progress=26.6% goal=286.25m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.70km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=27.8% goal=281.80m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.66km/h thr=0.20 brk=0.00 str=+0.01 safe=0 progress=28.9% goal=277.30m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 15.87km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=30.1% goal=272.80m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.22km/h thr=0.26 brk=0.00 str=+0.03 safe=0 progress=31.3% goal=268.25m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 16.53km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=32.4% goal=263.75m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.29km/h thr=0.24 brk=0.00 str=+0.07 safe=0 progress=33.6% goal=259.15m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 16.14km/h thr=0.33 brk=0.00 str=-0.03 safe=0 progress=34.7% goal=254.66m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.29km/h thr=0.41 brk=0.00 str=+0.07 safe=0 progress=36.0% goal=249.81m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 19.17km/h thr=0.38 brk=0.00 str=+0.07 safe=0 progress=37.3% goal=244.61m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.96km/h thr=0.37 brk=0.00 str=+0.04 safe=0 progress=38.7% goal=239.30m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 19.52km/h thr=0.41 brk=0.00 str=+0.04 safe=0 progress=40.0% goal=233.99m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 20.79km/h thr=0.28 brk=0.00 str=+0.04 safe=0 progress=41.5% goal=228.37m dL=0.11 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=8 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=28 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=48 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=68 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=88 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=108 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=128 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=148 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=168 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=188 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.01 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=208 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=228 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=248 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=268 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Red credit=288 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.63 str=+0.10 safe=0 progress=42.2% goal=225.57m dL=0.04 ttc=999.00s tl=Green credit=278 reason=
[STEP] step=1520 speed= 12.17km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=42.5% goal=224.40m dL=0.03 ttc=999.00s tl=Green credit=258 reason=
[STEP] step=1540 speed= 18.08km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=43.7% goal=219.68m dL=0.09 ttc=999.00s tl=Green credit=238 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.00 safe=0 progress=43.9% goal=219.03m dL=0.11 ttc=999.00s tl=None credit=218 reason=
[STEP] step=1580 speed= 13.15km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=44.2% goal=217.68m dL=0.08 ttc=999.00s tl=None credit=198 reason=
[STEP] step=1600 speed= 14.61km/h thr=0.00 brk=0.14 str=+0.08 safe=0 progress=45.4% goal=213.12m dL=0.12 ttc=999.00s tl=None credit=178 reason=
[STEP] step=1620 speed= 18.50km/h thr=0.64 brk=0.00 str=+0.01 safe=0 progress=46.5% goal=208.88m dL=0.16 ttc=999.00s tl=None credit=158 reason=
[STEP] step=1640 speed= 24.90km/h thr=0.40 brk=0.00 str=-0.03 safe=0 progress=48.0% goal=202.75m dL=0.29 ttc=999.00s tl=None credit=138 reason=
[STEP] step=1660 speed= 24.86km/h thr=0.31 brk=0.00 str=-0.00 safe=0 progress=49.8% goal=195.72m dL=0.11 ttc=999.00s tl=None credit=118 reason=
[STEP] step=1680 speed= 23.43km/h thr=0.33 brk=0.00 str=+0.01 safe=0 progress=51.6% goal=189.03m dL=0.04 ttc=999.00s tl=None credit=98 reason=
[STEP] step=1700 speed= 20.03km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=53.2% goal=182.79m dL=0.13 ttc=999.00s tl=None credit=78 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.15 safe=0 progress=53.4% goal=181.83m dL=0.18 ttc=999.00s tl=None credit=58 reason=
[STEP] step=1740 speed= 12.20km/h thr=0.61 brk=0.00 str=-0.11 safe=1 progress=53.7% goal=180.66m dL=0.11 ttc=999.00s tl=None credit=38 reason=
[STEP] step=1760 speed= 13.46km/h thr=0.00 brk=0.42 str=-0.06 safe=0 progress=54.8% goal=176.53m dL=0.15 ttc=999.00s tl=None credit=18 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.21 safe=0 progress=55.3% goal=174.58m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed=  4.04km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.3% goal=174.43m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1820 speed= 16.14km/h thr=0.24 brk=0.00 str=+0.08 safe=0 progress=56.1% goal=171.20m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed=  7.86km/h thr=0.00 brk=0.43 str=-0.19 safe=0 progress=57.0% goal=167.72m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.17 safe=0 progress=57.1% goal=167.45m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed= 13.59km/h thr=0.42 brk=0.00 str=-0.16 safe=1 progress=57.5% goal=165.94m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1900 speed= 12.29km/h thr=0.00 brk=0.43 str=-0.11 safe=0 progress=58.5% goal=161.80m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.21 safe=0 progress=58.9% goal=160.27m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed=  5.71km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=59.0% goal=159.98m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed= 16.18km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=59.9% goal=156.43m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed=  6.85km/h thr=0.00 brk=0.44 str=-0.17 safe=0 progress=60.7% goal=153.19m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=60.8% goal=153.11m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed= 14.62km/h thr=0.42 brk=0.00 str=-0.12 safe=1 progress=61.3% goal=151.20m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed= 11.37km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=62.3% goal=147.07m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.12 safe=0 progress=62.6% goal=145.82m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed=  7.65km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=62.8% goal=145.34m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed= 15.95km/h thr=0.00 brk=0.16 str=-0.02 safe=0 progress=63.7% goal=141.47m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed=  0.79km/h thr=0.00 brk=0.44 str=-0.09 safe=0 progress=64.5% goal=138.49m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed=  0.37km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=64.5% goal=138.48m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed= 15.31km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=65.1% goal=136.15m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2180 speed= 10.47km/h thr=0.00 brk=0.44 str=-0.12 safe=0 progress=66.1% goal=132.11m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=66.4% goal=131.15m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2220 speed=  9.35km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=66.6% goal=130.43m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2240 speed= 15.12km/h thr=0.00 brk=0.32 str=-0.01 safe=0 progress=67.6% goal=126.37m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.10 safe=0 progress=68.3% goal=123.86m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed=  1.62km/h thr=0.75 brk=0.00 str=-0.16 safe=1 progress=68.3% goal=123.82m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed= 16.99km/h thr=0.42 brk=0.00 str=-0.10 safe=1 progress=69.0% goal=121.01m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2320 speed= 13.43km/h thr=0.00 brk=0.20 str=-0.13 safe=0 progress=70.2% goal=116.47m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2340 speed= 19.08km/h thr=0.64 brk=0.00 str=+0.02 safe=0 progress=71.2% goal=112.48m dL=0.52 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2360 speed= 19.79km/h thr=0.21 brk=0.00 str=+0.09 safe=0 progress=72.6% goal=106.88m dL=0.69 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2380 speed= 14.99km/h thr=0.00 brk=0.40 str=-0.01 safe=0 progress=73.9% goal=101.94m dL=0.46 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=2400 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=7 reason=
[STEP] step=2420 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=27 reason=
[STEP] step=2440 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=47 reason=
[STEP] step=2460 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=67 reason=
[STEP] step=2480 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=87 reason=
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=107 reason=
[STEP] step=2520 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=127 reason=
[STEP] step=2540 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=147 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=167 reason=
[STEP] step=2580 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=187 reason=
[STEP] step=2600 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=207 reason=
[STEP] step=2620 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=227 reason=
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=247 reason=
[STEP] step=2660 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=267 reason=
[STEP] step=2680 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Red credit=287 reason=
[STEP] step=2700 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=74.4% goal=99.98m dL=0.37 ttc=999.00s tl=Green credit=293 reason=
[STEP] step=2720 speed=  4.87km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=74.4% goal=99.77m dL=0.34 ttc=999.00s tl=Green credit=273 reason=
[STEP] step=2740 speed= 18.00km/h thr=0.30 brk=0.00 str=-0.13 safe=0 progress=75.4% goal=96.14m dL=0.20 ttc=999.00s tl=None credit=253 reason=
[STEP] step=2760 speed= 21.09km/h thr=0.39 brk=0.00 str=+0.08 safe=0 progress=76.7% goal=90.85m dL=0.63 ttc=999.00s tl=None credit=233 reason=
[STEP] step=2780 speed=  4.87km/h thr=0.00 brk=0.44 str=+0.02 safe=0 progress=78.1% goal=85.44m dL=0.29 ttc=999.00s tl=None credit=213 reason=
[STEP] step=2800 speed=  0.12km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=78.1% goal=85.41m dL=0.28 ttc=999.00s tl=None credit=193 reason=
[STEP] step=2820 speed= 12.48km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=78.6% goal=83.48m dL=0.20 ttc=999.00s tl=None credit=173 reason=
[STEP] step=2840 speed=  9.38km/h thr=0.00 brk=0.30 str=-0.18 safe=0 progress=79.5% goal=80.02m dL=0.26 ttc=999.00s tl=None credit=153 reason=
[STEP] step=2860 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=133 reason=
[STEP] step=2880 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=113 reason=
[STEP] step=2900 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=93 reason=
[STEP] step=2920 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=73 reason=
[STEP] step=2940 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=53 reason=
[STEP] step=2960 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=33 reason=
[STEP] step=2980 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=13 reason=
[STEP] step=3000 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3020 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3040 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3060 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3080 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3098 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.09 safe=0 progress=79.7% goal=79.19m dL=0.22 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=02 R=377.90 steps=3098 success=0 progress=79.7% DS=0.00 intv=0.210 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 219 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 77 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.83% dL=0.00m
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=77 goal_idx=None route_len=374.5m spawn=(-78.0,13.0,-0.0) yaw=-179.8 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.8% goal=296.50m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.8% goal=296.50m dL=0.00 ttc=22.64s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.70km/h thr=0.49 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=294.88m dL=0.00 ttc=11.75s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.31km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=22.4% goal=290.48m dL=0.02 ttc=12.86s tl=Red credit=0 reason=
[STEP] step=0080 speed= 11.46km/h thr=0.24 brk=0.00 str=+0.00 safe=0 progress=23.2% goal=287.44m dL=0.06 ttc=21.83s tl=None credit=0 reason=
[STEP] step=0100 speed= 11.03km/h thr=0.14 brk=0.00 str=+0.01 safe=0 progress=24.1% goal=284.29m dL=0.21 ttc=78.81s tl=None credit=0 reason=
[STEP] step=0120 speed= 10.17km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=24.9% goal=281.36m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  8.72km/h thr=0.03 brk=0.00 str=+0.33 safe=0 progress=25.6% goal=278.67m dL=0.28 ttc=135.21s tl=None credit=0 reason=
[STEP] step=0160 speed=  8.68km/h thr=0.15 brk=0.00 str=+0.21 safe=0 progress=26.2% goal=276.30m dL=0.15 ttc=39.85s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.81km/h thr=0.15 brk=0.00 str=+0.18 safe=0 progress=26.8% goal=274.06m dL=0.16 ttc=27.22s tl=None credit=0 reason=
[STEP] step=0200 speed=  7.26km/h thr=0.00 brk=0.04 str=+0.11 safe=0 progress=27.4% goal=271.93m dL=0.20 ttc=25.72s tl=None credit=0 reason=
[STEP] step=0220 speed=  7.48km/h thr=0.24 brk=0.00 str=+0.23 safe=0 progress=27.8% goal=270.53m dL=0.19 ttc=24.98s tl=None credit=0 reason=
[STEP] step=0240 speed=  7.21km/h thr=0.08 brk=0.00 str=+0.04 safe=0 progress=28.3% goal=268.55m dL=0.12 ttc=24.08s tl=None credit=0 reason=
[STEP] step=0260 speed=  7.00km/h thr=0.00 brk=0.05 str=+0.31 safe=0 progress=28.8% goal=266.72m dL=0.07 ttc=22.21s tl=None credit=0 reason=
[STEP] step=0280 speed=  8.68km/h thr=0.38 brk=0.00 str=+0.34 safe=0 progress=29.3% goal=264.63m dL=0.11 ttc=21.63s tl=None credit=0 reason=
[STEP] step=0300 speed= 13.75km/h thr=0.58 brk=0.00 str=+0.09 safe=0 progress=30.1% goal=261.59m dL=0.06 ttc=26.78s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.53km/h thr=0.06 brk=0.00 str=+0.21 safe=0 progress=31.4% goal=257.08m dL=0.34 ttc=27.34s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.92km/h thr=0.31 brk=0.00 str=-0.05 safe=0 progress=32.6% goal=252.58m dL=0.26 ttc=36.22s tl=None credit=0 reason=
[STEP] step=0360 speed= 17.13km/h thr=0.00 brk=0.08 str=+0.22 safe=0 progress=33.8% goal=247.77m dL=0.30 ttc=154.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 14.22km/h thr=0.12 brk=0.00 str=-0.03 safe=0 progress=35.0% goal=243.56m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 14.35km/h thr=0.15 brk=0.00 str=+0.00 safe=0 progress=36.0% goal=239.82m dL=0.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.70km/h thr=0.20 brk=0.00 str=+0.12 safe=0 progress=37.0% goal=235.98m dL=0.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.76km/h thr=0.20 brk=0.00 str=+0.05 safe=0 progress=38.0% goal=232.20m dL=0.31 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.64km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=39.0% goal=228.42m dL=0.38 ttc=109.74s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.79km/h thr=0.19 brk=0.00 str=+0.06 safe=0 progress=40.0% goal=224.62m dL=0.39 ttc=26.02s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.81km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=41.0% goal=220.80m dL=0.36 ttc=61.14s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.44km/h thr=0.17 brk=0.00 str=+0.05 safe=0 progress=42.0% goal=217.03m dL=0.19 ttc=37.74s tl=None credit=0 reason=
[STEP] step=0540 speed= 12.95km/h thr=0.19 brk=0.00 str=-0.04 safe=0 progress=43.0% goal=213.39m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 12.89km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=44.0% goal=209.82m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 12.89km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=44.9% goal=206.25m dL=0.06 ttc=80.01s tl=None credit=0 reason=
[STEP] step=0600 speed= 12.84km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=45.9% goal=202.67m dL=0.07 ttc=59.36s tl=None credit=0 reason=
[STEP] step=0620 speed= 12.83km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=46.8% goal=199.11m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.87km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=47.8% goal=195.55m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 12.79km/h thr=0.21 brk=0.00 str=+0.11 safe=0 progress=48.7% goal=191.99m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 14.01km/h thr=0.12 brk=0.00 str=+0.11 safe=0 progress=49.7% goal=188.27m dL=0.08 ttc=362.41s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.28km/h thr=0.18 brk=0.00 str=+0.11 safe=0 progress=50.9% goal=184.06m dL=0.06 ttc=140.33s tl=None credit=0 reason=
[STEP] step=0720 speed= 14.67km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=52.0% goal=179.62m dL=0.06 ttc=119.27s tl=Yellow credit=0 reason=
[STEP] step=0740 speed=  8.07km/h thr=0.00 brk=0.39 str=+0.19 safe=0 progress=52.9% goal=176.46m dL=0.09 ttc=134.03s tl=Yellow credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=999.00s tl=Red credit=16 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=999.00s tl=Red credit=36 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=80.15s tl=Red credit=56 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=36.86s tl=Red credit=76 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=25.28s tl=Red credit=96 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=15.16s tl=Red credit=116 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=11.88s tl=Red credit=136 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=10.88s tl=Red credit=156 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=10.02s tl=Red credit=176 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=9.17s tl=Red credit=196 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.29 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=8.35s tl=Red credit=216 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.69 str=-0.28 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=7.62s tl=Red credit=236 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.24 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=8.08s tl=Red credit=256 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.34 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=8.76s tl=Red credit=276 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.35 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=11.87s tl=Red credit=296 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.12 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=10.40s tl=Red credit=316 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.25 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=999.00s tl=Red credit=336 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.20 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=999.00s tl=Red credit=356 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.21 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=999.00s tl=Red credit=376 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.31 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=999.00s tl=Red credit=396 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.36 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=94.59s tl=Red credit=416 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.24 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=11.83s tl=Red credit=436 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.21 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=8.67s tl=Red credit=456 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.21 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=8.11s tl=Red credit=476 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.11 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=7.50s tl=Red credit=496 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.11 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=6.09s tl=Red credit=516 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.14 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=4.69s tl=Red credit=536 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.00 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=3.49s tl=Red credit=556 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.09 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=2.89s tl=Red credit=576 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.04 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=2.29s tl=Red credit=596 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.03 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=1.69s tl=Red credit=600 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.10 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.08 safe=0 progress=53.0% goal=176.06m dL=0.12 ttc=3.97s tl=Green credit=585 reason=
[STEP] step=1420 speed= 12.14km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=53.3% goal=174.89m dL=0.06 ttc=10.70s tl=Green credit=565 reason=
[STEP] step=1440 speed= 17.07km/h thr=0.17 brk=0.00 str=-0.02 safe=0 progress=54.5% goal=170.27m dL=0.01 ttc=9.11s tl=None credit=545 reason=
[STEP] step=1460 speed= 16.64km/h thr=0.36 brk=0.00 str=+0.06 safe=0 progress=55.8% goal=165.66m dL=0.10 ttc=9.79s tl=None credit=525 reason=
[STEP] step=1480 speed= 18.15km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=57.1% goal=160.81m dL=0.20 ttc=11.67s tl=None credit=505 reason=
[STEP] step=1500 speed= 17.85km/h thr=0.34 brk=0.00 str=+0.04 safe=0 progress=58.4% goal=155.79m dL=0.40 ttc=17.35s tl=None credit=485 reason=
[STEP] step=1520 speed= 17.96km/h thr=0.24 brk=0.00 str=+0.07 safe=0 progress=59.7% goal=150.75m dL=0.27 ttc=36.11s tl=None credit=465 reason=
[STEP] step=1540 speed= 18.21km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=61.1% goal=145.74m dL=0.21 ttc=999.00s tl=None credit=445 reason=
[STEP] step=1560 speed= 18.26km/h thr=0.34 brk=0.00 str=-0.12 safe=0 progress=62.4% goal=140.67m dL=0.16 ttc=999.00s tl=None credit=425 reason=
[STEP] step=1580 speed= 17.99km/h thr=0.26 brk=0.00 str=+0.08 safe=0 progress=63.8% goal=135.62m dL=0.15 ttc=999.00s tl=None credit=405 reason=
[STEP] step=1600 speed= 18.74km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=65.2% goal=130.45m dL=0.12 ttc=999.00s tl=None credit=385 reason=
[STEP] step=1620 speed= 18.11km/h thr=0.26 brk=0.00 str=+0.03 safe=0 progress=66.5% goal=125.33m dL=0.06 ttc=999.00s tl=None credit=365 reason=
[STEP] step=1640 speed= 18.02km/h thr=0.29 brk=0.00 str=+0.06 safe=0 progress=67.9% goal=120.28m dL=0.08 ttc=999.00s tl=None credit=345 reason=
[STEP] step=1660 speed= 17.94km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=69.2% goal=115.21m dL=0.09 ttc=999.00s tl=None credit=325 reason=
[STEP] step=1680 speed= 18.53km/h thr=0.31 brk=0.00 str=+0.08 safe=0 progress=70.6% goal=110.18m dL=0.10 ttc=999.00s tl=None credit=305 reason=
[STEP] step=1700 speed= 19.44km/h thr=0.44 brk=0.00 str=-0.09 safe=0 progress=72.0% goal=104.87m dL=0.07 ttc=999.00s tl=None credit=285 reason=
[STEP] step=1720 speed= 21.08km/h thr=0.41 brk=0.00 str=+0.12 safe=0 progress=73.5% goal=99.25m dL=0.27 ttc=999.00s tl=None credit=265 reason=
[STEP] step=1740 speed= 20.45km/h thr=0.17 brk=0.00 str=-0.16 safe=0 progress=75.1% goal=93.27m dL=0.14 ttc=999.00s tl=None credit=245 reason=
[STEP] step=1760 speed= 19.94km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=76.5% goal=87.88m dL=0.27 ttc=999.00s tl=None credit=225 reason=
[STEP] step=1780 speed= 18.02km/h thr=0.33 brk=0.00 str=-0.05 safe=0 progress=77.9% goal=82.68m dL=0.30 ttc=22.40s tl=None credit=205 reason=
[STEP] step=1800 speed= 17.99km/h thr=0.23 brk=0.00 str=-0.11 safe=0 progress=79.3% goal=77.64m dL=0.29 ttc=17.76s tl=None credit=185 reason=
[STEP] step=1820 speed= 17.52km/h thr=0.35 brk=0.00 str=+0.05 safe=0 progress=80.6% goal=72.70m dL=0.28 ttc=15.79s tl=None credit=165 reason=
[STEP] step=1840 speed= 18.03km/h thr=0.23 brk=0.00 str=-0.06 safe=0 progress=81.9% goal=67.77m dL=0.29 ttc=15.44s tl=None credit=145 reason=
[STEP] step=1860 speed= 18.20km/h thr=0.34 brk=0.00 str=+0.01 safe=0 progress=83.2% goal=62.74m dL=0.30 ttc=14.59s tl=None credit=125 reason=
[STEP] step=1880 speed= 18.15km/h thr=0.26 brk=0.00 str=+0.05 safe=0 progress=84.6% goal=57.65m dL=0.31 ttc=13.51s tl=None credit=105 reason=
[STEP] step=1900 speed= 18.07km/h thr=0.34 brk=0.00 str=-0.03 safe=0 progress=86.0% goal=52.61m dL=0.31 ttc=12.37s tl=None credit=85 reason=
[STEP] step=1920 speed= 18.45km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=87.3% goal=47.54m dL=0.40 ttc=11.87s tl=None credit=65 reason=
[STEP] step=1940 speed= 18.01km/h thr=0.13 brk=0.00 str=+0.04 safe=0 progress=88.7% goal=42.46m dL=0.21 ttc=10.21s tl=None credit=45 reason=
[STEP] step=1960 speed= 14.68km/h thr=0.21 brk=0.00 str=+0.03 safe=0 progress=89.9% goal=37.92m dL=0.02 ttc=6.96s tl=None credit=25 reason=
[STEP] step=1980 speed= 14.39km/h thr=0.13 brk=0.00 str=+0.03 safe=0 progress=91.0% goal=33.89m dL=0.09 ttc=5.72s tl=None credit=5 reason=
[STEP] step=2000 speed= 13.04km/h thr=0.42 brk=0.00 str=+0.12 safe=0 progress=92.0% goal=30.06m dL=0.12 ttc=4.18s tl=None credit=0 reason=
[STEP] step=2020 speed= 12.20km/h thr=0.14 brk=0.00 str=+0.04 safe=0 progress=92.9% goal=26.45m dL=0.10 ttc=3.09s tl=None credit=0 reason=
[STEP] step=2040 speed= 12.17km/h thr=0.16 brk=0.00 str=-0.00 safe=0 progress=93.8% goal=23.08m dL=0.09 ttc=2.12s tl=None credit=0 reason=
[STEP] step=2060 speed= 12.23km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=94.7% goal=19.72m dL=0.04 ttc=1.40s tl=None credit=0 reason=
[STEP] step=2066 speed= 12.22km/h thr=0.17 brk=0.00 str=+0.16 safe=0 progress=95.0% goal=18.70m dL=0.06 ttc=1.31s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=03 R=52.10 steps=2066 success=1 progress=95.0% DS=95.01 intv=0.024 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 223 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 67 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=60.11% dL=30.99m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=67 goal_idx=None route_len=362.8m spawn=(-41.7,-30.4,-0.0) yaw=-89.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=362.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=362.75m dL=0.00 ttc=43.07s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.25km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=361.14m dL=0.00 ttc=13.29s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.39km/h thr=0.00 brk=0.25 str=-0.00 safe=0 progress=1.6% goal=356.86m dL=0.08 ttc=9.92s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.11 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=9.03s tl=Red credit=7 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.13 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=7.43s tl=Red credit=27 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=7.79s tl=Red credit=47 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.13 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=8.79s tl=Red credit=67 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.80 str=-0.09 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=10.38s tl=Red credit=87 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.09 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=12.95s tl=Red credit=107 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.10 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=32.20s tl=Red credit=127 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.13 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=999.00s tl=Red credit=147 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=999.00s tl=Red credit=167 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=999.00s tl=Red credit=187 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=999.00s tl=Red credit=207 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=999.00s tl=Red credit=227 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=999.00s tl=Red credit=247 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=999.00s tl=Red credit=267 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.13 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=126.26s tl=Red credit=287 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=66.21s tl=Red credit=307 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=46.07s tl=Red credit=327 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=35.56s tl=Red credit=347 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=31.43s tl=Red credit=367 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=31.57s tl=Red credit=387 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=36.74s tl=Red credit=407 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.12 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=45.15s tl=Red credit=427 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=2.1% goal=355.13m dL=0.11 ttc=55.51s tl=Green credit=415 reason=
[STEP] step=0540 speed= 11.32km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=2.5% goal=353.84m dL=0.04 ttc=12.14s tl=Green credit=395 reason=
[STEP] step=0560 speed= 12.77km/h thr=0.00 brk=0.11 str=+0.06 safe=0 progress=3.5% goal=350.13m dL=0.26 ttc=10.11s tl=Green credit=375 reason=
[STEP] step=0580 speed=  9.59km/h thr=0.08 brk=0.00 str=+0.25 safe=0 progress=4.3% goal=347.19m dL=0.21 ttc=11.08s tl=Green credit=355 reason=
[STEP] step=0600 speed=  9.12km/h thr=0.30 brk=0.00 str=+0.22 safe=0 progress=5.0% goal=344.66m dL=0.12 ttc=10.16s tl=None credit=335 reason=
[STEP] step=0620 speed=  9.37km/h thr=0.10 brk=0.00 str=+0.03 safe=0 progress=5.7% goal=342.16m dL=0.07 ttc=8.79s tl=None credit=315 reason=
[STEP] step=0640 speed=  8.30km/h thr=0.16 brk=0.00 str=+0.17 safe=0 progress=6.3% goal=339.79m dL=0.13 ttc=8.78s tl=None credit=295 reason=
[STEP] step=0660 speed=  8.09km/h thr=0.18 brk=0.00 str=+0.30 safe=0 progress=7.0% goal=337.53m dL=0.17 ttc=8.10s tl=None credit=275 reason=
[STEP] step=0680 speed=  8.25km/h thr=0.05 brk=0.00 str=+0.15 safe=0 progress=7.6% goal=335.29m dL=0.13 ttc=7.36s tl=None credit=255 reason=
[STEP] step=0700 speed=  8.27km/h thr=0.16 brk=0.00 str=+0.26 safe=0 progress=8.2% goal=333.05m dL=0.10 ttc=7.39s tl=None credit=235 reason=
[STEP] step=0720 speed= 10.27km/h thr=0.12 brk=0.00 str=+0.16 safe=0 progress=8.9% goal=330.64m dL=0.08 ttc=7.49s tl=None credit=215 reason=
[STEP] step=0740 speed= 16.04km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=9.8% goal=327.10m dL=0.02 ttc=10.98s tl=None credit=195 reason=
[STEP] step=0760 speed= 15.86km/h thr=0.30 brk=0.00 str=+0.09 safe=0 progress=11.1% goal=322.55m dL=0.10 ttc=50.15s tl=None credit=175 reason=
[STEP] step=0780 speed= 15.93km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=12.3% goal=318.01m dL=0.14 ttc=49.61s tl=None credit=155 reason=
[STEP] step=0800 speed= 16.52km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=13.6% goal=313.55m dL=0.18 ttc=47.97s tl=None credit=135 reason=
[STEP] step=0820 speed= 16.63km/h thr=0.17 brk=0.00 str=+0.04 safe=0 progress=14.8% goal=309.10m dL=0.18 ttc=46.56s tl=None credit=115 reason=
[STEP] step=0840 speed= 16.33km/h thr=0.12 brk=0.00 str=+0.15 safe=0 progress=16.0% goal=304.73m dL=0.20 ttc=44.85s tl=None credit=95 reason=
[STEP] step=0860 speed= 17.01km/h thr=0.25 brk=0.00 str=+0.06 safe=0 progress=17.2% goal=300.21m dL=0.14 ttc=44.10s tl=None credit=75 reason=
[STEP] step=0880 speed= 17.70km/h thr=0.16 brk=0.00 str=+0.10 safe=0 progress=18.6% goal=295.36m dL=0.16 ttc=42.54s tl=None credit=55 reason=
[STEP] step=0900 speed= 17.46km/h thr=0.00 brk=0.08 str=+0.10 safe=0 progress=19.9% goal=290.42m dL=0.13 ttc=42.20s tl=None credit=35 reason=
[STEP] step=0920 speed=  9.64km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=21.0% goal=286.63m dL=0.05 ttc=80.04s tl=None credit=15 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.11 safe=0 progress=21.2% goal=285.75m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  9.37km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=21.4% goal=285.04m dL=0.03 ttc=83.28s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.46km/h thr=0.00 brk=0.21 str=-0.10 safe=0 progress=22.6% goal=280.69m dL=0.02 ttc=50.11s tl=None credit=0 reason=
[STEP] step=1000 speed=  8.33km/h thr=0.00 brk=0.23 str=-0.05 safe=0 progress=23.6% goal=277.30m dL=0.00 ttc=98.73s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.19 safe=0 progress=23.7% goal=276.84m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 12.19km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=24.0% goal=275.67m dL=0.00 ttc=65.55s tl=None credit=0 reason=
[STEP] step=1060 speed= 15.17km/h thr=0.00 brk=0.20 str=+0.01 safe=0 progress=25.3% goal=271.12m dL=0.01 ttc=53.90s tl=None credit=0 reason=
[STEP] step=1080 speed=  7.27km/h thr=0.00 brk=0.25 str=+0.02 safe=0 progress=26.1% goal=268.03m dL=0.01 ttc=113.66s tl=None credit=0 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.14 safe=0 progress=26.2% goal=267.81m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 14.83km/h thr=0.64 brk=0.00 str=+0.00 safe=1 progress=26.7% goal=266.08m dL=0.00 ttc=44.22s tl=None credit=0 reason=
[STEP] step=1140 speed= 13.86km/h thr=0.00 brk=0.21 str=-0.03 safe=0 progress=27.9% goal=261.51m dL=0.00 ttc=24.72s tl=None credit=0 reason=
[STEP] step=1160 speed=  2.00km/h thr=0.00 brk=0.30 str=+0.02 safe=0 progress=28.7% goal=258.77m dL=0.02 ttc=30.37s tl=None credit=0 reason=
[STEP] step=1180 speed=  0.07km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=28.7% goal=258.76m dL=0.02 ttc=25.85s tl=None credit=0 reason=
[STEP] step=1200 speed= 16.09km/h thr=0.44 brk=0.00 str=-0.00 safe=1 progress=29.3% goal=256.60m dL=0.01 ttc=12.11s tl=None credit=0 reason=
[STEP] step=1220 speed= 13.34km/h thr=0.00 brk=0.17 str=-0.03 safe=0 progress=30.5% goal=252.05m dL=0.01 ttc=9.96s tl=None credit=0 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.16 safe=0 progress=31.2% goal=249.59m dL=0.02 ttc=12.14s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.83km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=31.2% goal=249.57m dL=0.02 ttc=11.73s tl=None credit=0 reason=
[STEP] step=1280 speed= 16.90km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=31.9% goal=246.96m dL=0.01 ttc=7.54s tl=None credit=0 reason=
[STEP] step=1300 speed= 12.47km/h thr=0.00 brk=0.16 str=+0.05 safe=0 progress=33.1% goal=242.55m dL=0.01 ttc=7.52s tl=None credit=0 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.67 str=+0.03 safe=0 progress=33.7% goal=240.50m dL=0.00 ttc=9.78s tl=None credit=0 reason=
[STEP] step=1340 speed=  1.63km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=33.7% goal=240.47m dL=0.00 ttc=7.59s tl=None credit=0 reason=
[STEP] step=1360 speed= 15.42km/h thr=0.36 brk=0.00 str=+0.09 safe=0 progress=34.5% goal=237.76m dL=0.02 ttc=3.79s tl=None credit=0 reason=
[STEP] step=1380 speed= 12.62km/h thr=0.36 brk=0.00 str=+0.03 safe=0 progress=35.5% goal=233.81m dL=0.25 ttc=2.88s tl=None credit=0 reason=
[STEP] step=1400 speed= 11.91km/h thr=0.38 brk=0.00 str=+0.03 safe=0 progress=36.5% goal=230.26m dL=0.16 ttc=1.96s tl=None credit=0 reason=
[STEP] step=1420 speed= 12.56km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=37.5% goal=226.71m dL=0.12 ttc=1.91s tl=None credit=0 reason=
[STEP] step=1440 speed= 10.41km/h thr=0.00 brk=0.15 str=+0.11 safe=0 progress=38.5% goal=223.19m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.11 safe=0 progress=38.9% goal=221.73m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  4.87km/h thr=0.75 brk=0.00 str=+0.17 safe=1 progress=38.9% goal=221.51m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 16.10km/h thr=0.18 brk=0.00 str=-0.08 safe=0 progress=39.9% goal=218.12m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed=  8.82km/h thr=0.00 brk=0.25 str=+0.20 safe=0 progress=40.8% goal=214.62m dL=0.08 ttc=136.22s tl=None credit=0 reason=
[STEP] step=1540 speed=  0.73km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=41.0% goal=213.87m dL=0.06 ttc=89.85s tl=None credit=0 reason=
[STEP] step=1560 speed=  9.22km/h thr=0.42 brk=0.00 str=+0.07 safe=0 progress=41.4% goal=212.49m dL=0.07 ttc=84.62s tl=None credit=0 reason=
[STEP] step=1580 speed= 13.43km/h thr=0.17 brk=0.00 str=+0.10 safe=0 progress=42.4% goal=209.12m dL=0.10 ttc=77.26s tl=None credit=0 reason=
[STEP] step=1600 speed= 13.03km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=43.4% goal=205.49m dL=0.08 ttc=73.61s tl=None credit=0 reason=
[STEP] step=1620 speed= 13.01km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=44.3% goal=201.88m dL=0.06 ttc=55.65s tl=None credit=0 reason=
[STEP] step=1640 speed= 13.02km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=45.3% goal=198.28m dL=0.06 ttc=40.00s tl=None credit=0 reason=
[STEP] step=1660 speed= 13.01km/h thr=0.20 brk=0.00 str=+0.10 safe=0 progress=46.3% goal=194.68m dL=0.06 ttc=31.40s tl=None credit=0 reason=
[STEP] step=1680 speed= 13.70km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=47.3% goal=191.06m dL=0.07 ttc=28.52s tl=None credit=0 reason=
[STEP] step=1700 speed= 16.12km/h thr=0.17 brk=0.00 str=+0.11 safe=0 progress=48.5% goal=186.83m dL=0.05 ttc=24.76s tl=None credit=0 reason=
[STEP] step=1720 speed= 15.60km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=49.7% goal=182.38m dL=0.06 ttc=23.38s tl=None credit=0 reason=
[STEP] step=1740 speed= 18.54km/h thr=0.48 brk=0.00 str=+0.04 safe=0 progress=51.0% goal=177.61m dL=0.12 ttc=21.03s tl=None credit=0 reason=
[STEP] step=1760 speed= 21.10km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=52.6% goal=171.85m dL=0.14 ttc=18.73s tl=None credit=0 reason=
[STEP] step=1780 speed= 17.79km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=54.2% goal=166.28m dL=0.06 ttc=19.64s tl=Green credit=0 reason=
[STEP] step=1800 speed= 17.92km/h thr=0.25 brk=0.00 str=+0.07 safe=0 progress=55.5% goal=161.25m dL=0.05 ttc=18.98s tl=None credit=0 reason=
[STEP] step=1820 speed= 18.31km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=56.9% goal=156.20m dL=0.03 ttc=18.29s tl=None credit=0 reason=
[STEP] step=1840 speed= 19.53km/h thr=0.37 brk=0.00 str=+0.00 safe=0 progress=58.4% goal=150.94m dL=0.04 ttc=17.16s tl=None credit=0 reason=
[STEP] step=1860 speed= 20.39km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=59.9% goal=145.38m dL=0.04 ttc=16.27s tl=None credit=0 reason=
[STEP] step=1880 speed= 20.95km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=61.5% goal=139.64m dL=0.03 ttc=15.64s tl=None credit=0 reason=
[STEP] step=1900 speed= 21.33km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=63.1% goal=133.76m dL=0.03 ttc=13.41s tl=None credit=0 reason=
[STEP] step=1920 speed= 21.58km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=64.8% goal=127.80m dL=0.04 ttc=10.81s tl=None credit=0 reason=
[STEP] step=1940 speed= 21.64km/h thr=0.35 brk=0.00 str=+0.00 safe=0 progress=66.4% goal=121.79m dL=0.05 ttc=8.73s tl=None credit=0 reason=
[STEP] step=1960 speed= 21.53km/h thr=0.35 brk=0.00 str=+0.00 safe=0 progress=68.1% goal=115.79m dL=0.06 ttc=7.05s tl=None credit=0 reason=
[STEP] step=1980 speed= 21.50km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=69.7% goal=109.82m dL=0.08 ttc=5.63s tl=None credit=0 reason=
[STEP] step=2000 speed= 11.86km/h thr=0.00 brk=0.56 str=+0.04 safe=0 progress=71.3% goal=104.08m dL=0.12 ttc=5.55s tl=None credit=0 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.01 safe=0 progress=71.4% goal=103.89m dL=0.12 ttc=6.50s tl=None credit=0 reason=
[STEP] step=2040 speed= 14.84km/h thr=0.64 brk=0.00 str=-0.01 safe=1 progress=71.8% goal=102.15m dL=0.06 ttc=3.45s tl=None credit=0 reason=
[STEP] step=2060 speed= 17.85km/h thr=0.12 brk=0.00 str=+0.13 safe=0 progress=73.2% goal=97.30m dL=0.19 ttc=2.30s tl=None credit=0 reason=
[STEP] step=2080 speed= 16.60km/h thr=0.25 brk=0.00 str=+0.05 safe=0 progress=74.4% goal=92.73m dL=0.15 ttc=1.62s tl=None credit=0 reason=
[STEP] step=2100 speed= 18.06km/h thr=0.33 brk=0.00 str=+0.03 safe=0 progress=75.8% goal=87.89m dL=0.10 ttc=9.85s tl=None credit=0 reason=
[STEP] step=2120 speed= 18.56km/h thr=0.35 brk=0.00 str=+0.02 safe=0 progress=77.2% goal=82.83m dL=0.00 ttc=190.81s tl=None credit=0 reason=
[STEP] step=2140 speed= 18.82km/h thr=0.26 brk=0.00 str=-0.07 safe=0 progress=78.6% goal=77.67m dL=0.07 ttc=185.83s tl=None credit=0 reason=
[STEP] step=2160 speed= 19.58km/h thr=0.38 brk=0.00 str=+0.02 safe=0 progress=80.0% goal=72.40m dL=0.05 ttc=260.84s tl=None credit=0 reason=
[STEP] step=2180 speed= 18.13km/h thr=0.15 brk=0.00 str=+0.05 safe=0 progress=81.5% goal=67.09m dL=0.06 ttc=187.89s tl=None credit=0 reason=
[STEP] step=2200 speed= 10.77km/h thr=0.00 brk=0.25 str=+0.08 safe=0 progress=82.6% goal=63.02m dL=0.02 ttc=141.96s tl=None credit=0 reason=
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.06 safe=0 progress=83.0% goal=61.77m dL=0.01 ttc=149.77s tl=None credit=0 reason=
[STEP] step=2240 speed=  6.62km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=83.1% goal=61.40m dL=0.02 ttc=183.17s tl=None credit=0 reason=
[STEP] step=2260 speed= 16.56km/h thr=0.28 brk=0.00 str=+0.07 safe=0 progress=84.1% goal=57.66m dL=0.13 ttc=91.63s tl=None credit=0 reason=
[STEP] step=2280 speed= 13.82km/h thr=0.18 brk=0.00 str=+0.11 safe=0 progress=85.3% goal=53.37m dL=0.16 ttc=60.03s tl=None credit=0 reason=
[STEP] step=2300 speed= 13.54km/h thr=0.21 brk=0.00 str=+0.08 safe=0 progress=86.3% goal=49.57m dL=0.23 ttc=42.26s tl=None credit=0 reason=
[STEP] step=2320 speed= 10.34km/h thr=0.00 brk=0.16 str=+0.04 safe=0 progress=87.3% goal=45.98m dL=0.16 ttc=35.57s tl=None credit=0 reason=
[STEP] step=2340 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.01 safe=0 progress=87.7% goal=44.64m dL=0.15 ttc=35.72s tl=None credit=0 reason=
[STEP] step=2360 speed=  5.68km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=87.8% goal=44.36m dL=0.14 ttc=25.54s tl=None credit=0 reason=
[STEP] step=2380 speed= 16.10km/h thr=0.27 brk=0.00 str=+0.09 safe=0 progress=88.7% goal=40.83m dL=0.13 ttc=17.24s tl=None credit=0 reason=
[STEP] step=2400 speed=  9.91km/h thr=0.00 brk=0.20 str=+0.10 safe=0 progress=89.8% goal=37.03m dL=0.07 ttc=18.84s tl=None credit=0 reason=
[STEP] step=2420 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.03 safe=0 progress=90.1% goal=35.91m dL=0.08 ttc=25.97s tl=None credit=0 reason=
[STEP] step=2440 speed=  7.48km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=90.2% goal=35.44m dL=0.09 ttc=22.22s tl=None credit=0 reason=
[STEP] step=2460 speed= 15.28km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=91.3% goal=31.70m dL=0.09 ttc=19.72s tl=None credit=0 reason=
[STEP] step=2480 speed=  7.50km/h thr=0.00 brk=0.24 str=+0.15 safe=0 progress=92.1% goal=28.56m dL=0.07 ttc=21.53s tl=None credit=0 reason=
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.13 safe=0 progress=92.2% goal=28.23m dL=0.07 ttc=19.43s tl=None credit=0 reason=
[STEP] step=2520 speed= 10.97km/h thr=0.42 brk=0.00 str=+0.09 safe=1 progress=92.5% goal=27.09m dL=0.09 ttc=10.19s tl=None credit=0 reason=
[STEP] step=2540 speed= 11.88km/h thr=0.00 brk=0.24 str=+0.12 safe=0 progress=93.5% goal=23.44m dL=0.12 ttc=8.69s tl=None credit=0 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.08 safe=0 progress=94.1% goal=21.56m dL=0.09 ttc=10.22s tl=None credit=0 reason=
[STEP] step=2580 speed=  3.22km/h thr=0.75 brk=0.00 str=+0.07 safe=1 progress=94.1% goal=21.46m dL=0.08 ttc=8.49s tl=None credit=0 reason=
[STEP] step=2600 speed= 14.14km/h thr=0.30 brk=0.00 str=+0.31 safe=0 progress=94.9% goal=18.65m dL=0.07 ttc=5.70s tl=None credit=0 reason=
[STEP] step=2603 speed= 14.57km/h thr=0.16 brk=0.00 str=+0.11 safe=0 progress=95.0% goal=18.05m dL=0.11 ttc=5.48s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=04 R=151.62 steps=2603 success=1 progress=95.0% DS=95.02 intv=0.144 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 227 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 8 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=26.04% dL=62.06m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=8 goal_idx=None route_len=390.2m spawn=(-111.1,72.9,-0.0) yaw=90.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=390.23m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=0.0% goal=390.23m dL=0.00 ttc=228.42s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.14km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=0.4% goal=388.63m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 11.86km/h thr=0.00 brk=0.28 str=-0.00 safe=0 progress=1.5% goal=384.40m dL=0.01 ttc=141.38s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.10 safe=0 progress=1.9% goal=382.69m dL=0.06 ttc=23.86s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.06km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=2.0% goal=382.54m dL=0.05 ttc=20.86s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.00km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=2.8% goal=379.19m dL=0.07 ttc=32.05s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.30km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=3.8% goal=375.43m dL=0.02 ttc=18.31s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.09 safe=0 progress=4.0% goal=374.62m dL=0.05 ttc=13.47s tl=None credit=0 reason=
[STEP] step=0180 speed=  9.33km/h thr=0.75 brk=0.00 str=-0.09 safe=1 progress=4.2% goal=373.92m dL=0.01 ttc=22.36s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.59km/h thr=0.00 brk=0.32 str=+0.06 safe=0 progress=5.3% goal=369.74m dL=0.08 ttc=53.36s tl=None credit=0 reason=
[STEP] step=0220 speed=  6.95km/h thr=0.00 brk=0.33 str=-0.05 safe=0 progress=6.0% goal=366.69m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.09 safe=0 progress=6.1% goal=366.56m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.49km/h thr=0.47 brk=0.00 str=-0.07 safe=1 progress=6.5% goal=364.84m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 12.75km/h thr=0.00 brk=0.27 str=+0.02 safe=0 progress=7.6% goal=360.50m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.10 safe=0 progress=8.2% goal=358.42m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  2.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=8.2% goal=358.36m dL=0.06 ttc=32.62s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.65km/h thr=0.36 brk=0.00 str=-0.11 safe=0 progress=8.9% goal=355.38m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.29km/h thr=0.00 brk=0.29 str=-0.01 safe=0 progress=10.0% goal=351.38m dL=0.01 ttc=27.78s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.10 safe=0 progress=10.3% goal=350.23m dL=0.06 ttc=10.47s tl=None credit=0 reason=
[STEP] step=0400 speed=  7.61km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=10.4% goal=349.76m dL=0.03 ttc=15.79s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.24km/h thr=0.00 brk=0.16 str=+0.09 safe=0 progress=11.4% goal=345.88m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  7.88km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=12.2% goal=342.55m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.15 safe=0 progress=12.3% goal=342.17m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 12.91km/h thr=0.57 brk=0.00 str=-0.12 safe=1 progress=12.7% goal=340.84m dL=0.01 ttc=240.08s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.25km/h thr=0.00 brk=0.28 str=-0.05 safe=0 progress=13.7% goal=336.63m dL=0.00 ttc=246.15s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.15 safe=0 progress=14.3% goal=334.41m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  1.52km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=14.3% goal=334.38m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 15.74km/h thr=0.42 brk=0.00 str=+0.13 safe=1 progress=15.0% goal=331.65m dL=0.04 ttc=168.76s tl=None credit=0 reason=
[STEP] step=0580 speed= 10.22km/h thr=0.00 brk=0.30 str=-0.04 safe=0 progress=16.0% goal=327.74m dL=0.07 ttc=193.28s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.13 safe=0 progress=16.3% goal=326.66m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed=  8.40km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=16.4% goal=326.08m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.56km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=17.5% goal=322.11m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  7.00km/h thr=0.00 brk=0.34 str=-0.08 safe=0 progress=18.2% goal=319.03m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=18.3% goal=318.91m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.59km/h thr=0.42 brk=0.00 str=+0.11 safe=1 progress=18.8% goal=317.00m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 12.01km/h thr=0.00 brk=0.29 str=-0.03 safe=0 progress=19.8% goal=312.82m dL=0.03 ttc=45.58s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.17 safe=0 progress=20.3% goal=311.13m dL=0.09 ttc=54.84s tl=None credit=0 reason=
[STEP] step=0760 speed=  4.83km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=20.3% goal=310.92m dL=0.08 ttc=43.36s tl=None credit=0 reason=
[STEP] step=0780 speed= 17.37km/h thr=0.18 brk=0.00 str=-0.08 safe=0 progress=21.2% goal=307.35m dL=0.04 ttc=22.36s tl=None credit=0 reason=
[STEP] step=0800 speed= 16.38km/h thr=0.15 brk=0.00 str=+0.01 safe=0 progress=22.4% goal=302.77m dL=0.07 ttc=15.99s tl=None credit=0 reason=
[STEP] step=0820 speed=  8.80km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=23.3% goal=299.23m dL=0.04 ttc=18.69s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=23.5% goal=298.58m dL=0.04 ttc=25.14s tl=None credit=0 reason=
[STEP] step=0860 speed= 11.23km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=23.7% goal=297.58m dL=0.03 ttc=19.30s tl=None credit=0 reason=
[STEP] step=0880 speed= 15.69km/h thr=0.00 brk=0.17 str=-0.06 safe=0 progress=24.9% goal=293.07m dL=0.00 ttc=18.07s tl=None credit=0 reason=
[STEP] step=0900 speed=  7.74km/h thr=0.00 brk=0.26 str=-0.03 safe=0 progress=25.7% goal=289.85m dL=0.01 ttc=25.67s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.13 safe=0 progress=25.8% goal=289.51m dL=0.01 ttc=46.52s tl=None credit=0 reason=
[STEP] step=0940 speed= 13.14km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=26.2% goal=288.16m dL=0.01 ttc=28.33s tl=None credit=0 reason=
[STEP] step=0960 speed= 15.04km/h thr=0.00 brk=0.19 str=-0.03 safe=0 progress=27.3% goal=283.54m dL=0.00 ttc=36.12s tl=None credit=0 reason=
[STEP] step=0980 speed=  7.32km/h thr=0.00 brk=0.26 str=-0.03 safe=0 progress=28.1% goal=280.47m dL=0.01 ttc=73.14s tl=None credit=0 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.12 safe=0 progress=28.2% goal=280.23m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 14.05km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=28.6% goal=278.69m dL=0.00 ttc=29.97s tl=None credit=0 reason=
[STEP] step=1040 speed= 14.40km/h thr=0.00 brk=0.20 str=+0.03 safe=0 progress=29.8% goal=274.10m dL=0.01 ttc=23.27s tl=None credit=0 reason=
[STEP] step=1060 speed=  6.79km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=30.5% goal=271.19m dL=0.01 ttc=29.26s tl=None credit=0 reason=
[STEP] step=1080 speed=  0.08km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=30.5% goal=271.06m dL=0.01 ttc=231.69s tl=None credit=0 reason=
[STEP] step=1100 speed= 15.54km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=31.0% goal=269.11m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 13.53km/h thr=0.00 brk=0.15 str=-0.00 safe=0 progress=32.2% goal=264.56m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed=  2.82km/h thr=0.00 brk=0.33 str=-0.07 safe=0 progress=32.9% goal=261.86m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.05 safe=1 progress=32.9% goal=261.85m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 16.09km/h thr=0.44 brk=0.00 str=-0.00 safe=1 progress=33.5% goal=259.69m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed= 13.28km/h thr=0.00 brk=0.16 str=+0.05 safe=0 progress=34.6% goal=255.16m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed=  0.02km/h thr=0.00 brk=0.43 str=-0.08 safe=0 progress=35.3% goal=252.59m dL=0.02 ttc=117.23s tl=None credit=0 reason=
[STEP] step=1240 speed=  0.40km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=35.3% goal=252.59m dL=0.02 ttc=66.62s tl=None credit=0 reason=
[STEP] step=1260 speed= 16.54km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=35.9% goal=250.20m dL=0.01 ttc=189.88s tl=None credit=0 reason=
[STEP] step=1280 speed= 15.15km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=37.1% goal=245.60m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 15.44km/h thr=0.42 brk=0.00 str=-0.05 safe=0 progress=38.2% goal=241.26m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 15.28km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=39.3% goal=236.92m dL=0.05 ttc=130.27s tl=None credit=0 reason=
[STEP] step=1340 speed= 16.20km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=40.4% goal=232.47m dL=0.06 ttc=52.46s tl=None credit=0 reason=
[STEP] step=1360 speed= 16.65km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=41.6% goal=227.97m dL=0.08 ttc=56.67s tl=None credit=0 reason=
[STEP] step=1380 speed= 16.54km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=42.7% goal=223.44m dL=0.10 ttc=57.54s tl=None credit=0 reason=
[STEP] step=1400 speed= 16.48km/h thr=0.28 brk=0.00 str=+0.04 safe=0 progress=43.9% goal=218.89m dL=0.13 ttc=59.82s tl=None credit=0 reason=
[STEP] step=1420 speed= 17.04km/h thr=0.31 brk=0.00 str=+0.05 safe=0 progress=45.1% goal=214.24m dL=0.14 ttc=61.37s tl=None credit=0 reason=
[STEP] step=1440 speed= 18.00km/h thr=0.31 brk=0.00 str=+0.04 safe=0 progress=46.3% goal=209.37m dL=0.14 ttc=62.33s tl=None credit=0 reason=
[STEP] step=1460 speed= 18.15km/h thr=0.39 brk=0.00 str=+0.04 safe=0 progress=47.6% goal=204.36m dL=0.15 ttc=60.42s tl=None credit=0 reason=
[STEP] step=1480 speed= 18.59km/h thr=0.31 brk=0.00 str=+0.04 safe=0 progress=48.9% goal=199.30m dL=0.14 ttc=77.42s tl=None credit=0 reason=
[STEP] step=1500 speed= 18.14km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=50.2% goal=194.25m dL=0.08 ttc=82.72s tl=None credit=0 reason=
[STEP] step=1520 speed= 18.03km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=51.5% goal=189.21m dL=0.05 ttc=127.42s tl=None credit=0 reason=
[STEP] step=1540 speed= 18.14km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=52.8% goal=184.17m dL=0.04 ttc=344.91s tl=None credit=0 reason=
[STEP] step=1560 speed= 17.95km/h thr=0.24 brk=0.00 str=+0.08 safe=0 progress=54.1% goal=179.13m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 10.78km/h thr=0.00 brk=0.34 str=-0.06 safe=0 progress=55.2% goal=174.90m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.13 safe=0 progress=55.5% goal=173.68m dL=0.17 ttc=53.40s tl=None credit=0 reason=
[STEP] step=1620 speed=  6.68km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.6% goal=173.31m dL=0.14 ttc=27.76s tl=None credit=0 reason=
[STEP] step=1640 speed= 15.39km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=56.5% goal=169.64m dL=0.07 ttc=12.84s tl=None credit=0 reason=
[STEP] step=1660 speed=  3.28km/h thr=0.00 brk=0.38 str=-0.10 safe=0 progress=57.3% goal=166.70m dL=0.14 ttc=13.07s tl=None credit=0 reason=
[STEP] step=1680 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=57.3% goal=166.69m dL=0.14 ttc=12.96s tl=None credit=0 reason=
[STEP] step=1700 speed= 14.68km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=57.8% goal=164.58m dL=0.01 ttc=8.65s tl=None credit=0 reason=
[STEP] step=1720 speed= 10.90km/h thr=0.00 brk=0.37 str=-0.09 safe=0 progress=58.9% goal=160.57m dL=0.15 ttc=8.26s tl=None credit=0 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=59.2% goal=159.37m dL=0.15 ttc=9.50s tl=None credit=0 reason=
[STEP] step=1760 speed=  7.53km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=59.3% goal=158.90m dL=0.11 ttc=6.93s tl=None credit=0 reason=
[STEP] step=1780 speed= 15.58km/h thr=0.00 brk=0.16 str=-0.05 safe=0 progress=60.3% goal=155.11m dL=0.08 ttc=4.79s tl=None credit=0 reason=
[STEP] step=1800 speed=  4.94km/h thr=0.00 brk=0.32 str=-0.09 safe=0 progress=61.0% goal=152.12m dL=0.14 ttc=4.80s tl=None credit=0 reason=
[STEP] step=1820 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=61.0% goal=152.09m dL=0.14 ttc=4.43s tl=None credit=0 reason=
[STEP] step=1840 speed= 14.83km/h thr=0.42 brk=0.00 str=-0.15 safe=1 progress=61.6% goal=149.97m dL=0.02 ttc=2.04s tl=None credit=0 reason=
[STEP] step=1860 speed= 11.09km/h thr=0.00 brk=0.41 str=-0.04 safe=0 progress=62.6% goal=145.91m dL=0.06 ttc=1.20s tl=None credit=0 reason=
[STEP] step=1880 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.05 safe=0 progress=63.0% goal=144.36m dL=0.02 ttc=1.17s tl=None credit=0 reason=
[STEP] step=1900 speed=  4.86km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=63.1% goal=144.15m dL=0.00 ttc=17.53s tl=None credit=0 reason=
[STEP] step=1920 speed= 16.82km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=64.0% goal=140.65m dL=0.09 ttc=13.84s tl=None credit=0 reason=
[STEP] step=1940 speed= 13.90km/h thr=0.20 brk=0.00 str=+0.02 safe=0 progress=65.0% goal=136.50m dL=0.11 ttc=15.44s tl=None credit=0 reason=
[STEP] step=1960 speed= 14.14km/h thr=0.19 brk=0.00 str=+0.04 safe=0 progress=66.0% goal=132.59m dL=0.14 ttc=17.09s tl=None credit=0 reason=
[STEP] step=1980 speed= 14.63km/h thr=0.20 brk=0.00 str=-0.02 safe=0 progress=67.0% goal=128.60m dL=0.22 ttc=15.24s tl=None credit=0 reason=
[STEP] step=2000 speed= 14.27km/h thr=0.29 brk=0.00 str=-0.11 safe=0 progress=68.1% goal=124.58m dL=0.24 ttc=9.19s tl=None credit=0 reason=
[STEP] step=2020 speed= 13.91km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=69.1% goal=120.64m dL=0.06 ttc=7.14s tl=None credit=0 reason=
[STEP] step=2040 speed=  1.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=69.8% goal=117.74m dL=0.13 ttc=8.11s tl=None credit=0 reason=
[STEP] step=2060 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=69.8% goal=117.73m dL=0.13 ttc=7.28s tl=None credit=0 reason=
[STEP] step=2080 speed= 15.42km/h thr=0.42 brk=0.00 str=-0.04 safe=1 progress=70.4% goal=115.59m dL=0.01 ttc=4.31s tl=None credit=0 reason=
[STEP] step=2100 speed= 16.07km/h thr=0.39 brk=0.00 str=-0.08 safe=0 progress=71.5% goal=111.05m dL=0.13 ttc=3.26s tl=None credit=0 reason=
[STEP] step=2120 speed= 16.80km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=72.7% goal=106.55m dL=0.03 ttc=2.22s tl=None credit=0 reason=
[STEP] step=2140 speed= 14.75km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=73.8% goal=102.27m dL=0.04 ttc=1.31s tl=None credit=0 reason=
[STEP] step=2160 speed= 16.54km/h thr=0.20 brk=0.00 str=-0.00 safe=0 progress=75.0% goal=97.72m dL=0.02 ttc=0.48s tl=None credit=0 reason=
[STEP] step=2180 speed= 16.29km/h thr=0.25 brk=0.00 str=+0.03 safe=0 progress=76.1% goal=93.15m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2200 speed= 16.66km/h thr=0.21 brk=0.00 str=+0.08 safe=0 progress=77.3% goal=88.64m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2220 speed= 16.46km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=78.5% goal=84.09m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2240 speed= 18.07km/h thr=0.39 brk=0.00 str=+0.02 safe=0 progress=79.7% goal=79.28m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2260 speed= 20.71km/h thr=0.38 brk=0.00 str=+0.02 safe=0 progress=81.0% goal=74.01m dL=0.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed= 18.61km/h thr=0.00 brk=0.08 str=+0.01 safe=0 progress=82.5% goal=68.32m dL=0.57 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed= 15.78km/h thr=0.42 brk=0.00 str=-0.09 safe=0 progress=83.6% goal=63.91m dL=0.51 ttc=999.00s tl=Green credit=0 reason=
[STEP] step=2320 speed= 18.94km/h thr=0.31 brk=0.00 str=+0.11 safe=0 progress=84.9% goal=58.91m dL=0.91 ttc=999.00s tl=Yellow credit=0 reason=
[STEP] step=2340 speed= 10.65km/h thr=0.06 brk=0.00 str=+0.22 safe=0 progress=86.2% goal=53.99m dL=0.78 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2360 speed=  9.22km/h thr=0.00 brk=0.28 str=+0.11 safe=0 progress=86.9% goal=51.05m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2380 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.63 safe=0 progress=87.1% goal=50.19m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2400 speed=  7.77km/h thr=0.43 brk=0.00 str=-0.28 safe=0 progress=87.3% goal=49.54m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2420 speed= 10.09km/h thr=0.16 brk=0.00 str=+0.03 safe=0 progress=88.0% goal=46.79m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2440 speed=  2.23km/h thr=0.57 brk=0.00 str=-0.18 safe=0 progress=88.4% goal=45.16m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2460 speed= 10.70km/h thr=0.10 brk=0.00 str=-0.07 safe=0 progress=89.0% goal=43.08m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2480 speed=  1.90km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=89.5% goal=41.17m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2500 speed= 10.42km/h thr=0.13 brk=0.00 str=-0.09 safe=0 progress=90.0% goal=39.05m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2520 speed=  0.02km/h thr=0.00 brk=0.23 str=-0.16 safe=0 progress=90.6% goal=36.66m dL=0.27 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2540 speed= 10.05km/h thr=0.18 brk=0.00 str=-0.05 safe=0 progress=91.0% goal=35.14m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2580 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2600 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2620 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2660 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2680 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2700 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2720 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2740 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=454.97s tl=None credit=0 reason=
[STEP] step=2760 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=256.24s tl=None credit=0 reason=
[STEP] step=2780 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=143.30s tl=None credit=0 reason=
[STEP] step=2800 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=125.09s tl=None credit=0 reason=
[STEP] step=2803 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=91.4% goal=33.63m dL=0.09 ttc=127.50s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=05 R=55.01 steps=2803 success=0 progress=91.4% DS=0.00 intv=0.213 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 231 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 50 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=20.49m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=50 goal_idx=None route_len=375.4m spawn=(20.5,13.2,0.0) yaw=-179.8 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  5.28km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=375.41m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=375.41m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.02km/h thr=0.61 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=374.00m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.04km/h thr=0.00 brk=0.27 str=+0.00 safe=0 progress=1.6% goal=369.53m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.66 str=-0.18 safe=0 progress=2.1% goal=367.68m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.00km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=2.1% goal=367.53m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.82km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=3.0% goal=364.10m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.03km/h thr=0.00 brk=0.40 str=+0.03 safe=0 progress=4.1% goal=360.09m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.08 safe=0 progress=4.3% goal=359.26m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 10.25km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=4.5% goal=358.41m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.38km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=5.7% goal=353.94m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  7.16km/h thr=0.00 brk=0.55 str=-0.08 safe=0 progress=6.6% goal=350.66m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.08 safe=0 progress=6.6% goal=350.52m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.84km/h thr=0.64 brk=0.00 str=+0.01 safe=1 progress=7.1% goal=348.78m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.73km/h thr=0.00 brk=0.22 str=+0.04 safe=0 progress=8.3% goal=344.21m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.09 safe=0 progress=8.9% goal=342.09m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  3.21km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=8.9% goal=341.99m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.88km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=9.8% goal=338.73m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.80km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=10.9% goal=334.56m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=12 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=32 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=52 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=72 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=92 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=112 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=132 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=152 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=172 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=192 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=212 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=232 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=252 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.10 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=272 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=292 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=312 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=332 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=352 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=372 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=392 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.10 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=412 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=432 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=452 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=472 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=492 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=512 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=532 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=552 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=572 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=592 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.01 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.10 safe=0 progress=11.1% goal=333.63m dL=0.04 ttc=999.00s tl=Green credit=592 reason=
[STEP] step=1120 speed=  5.81km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=11.2% goal=333.34m dL=0.04 ttc=999.00s tl=Green credit=572 reason=
[STEP] step=1140 speed= 17.15km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=12.1% goal=329.89m dL=0.00 ttc=999.00s tl=Green credit=552 reason=
[STEP] step=1160 speed= 16.80km/h thr=0.18 brk=0.00 str=+0.14 safe=0 progress=13.3% goal=325.46m dL=0.12 ttc=999.00s tl=None credit=532 reason=
[STEP] step=1180 speed=  8.88km/h thr=0.00 brk=0.46 str=-0.03 safe=0 progress=14.3% goal=321.77m dL=0.01 ttc=999.00s tl=None credit=512 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.66 str=-0.10 safe=0 progress=14.4% goal=321.27m dL=0.01 ttc=999.00s tl=None credit=492 reason=
[STEP] step=1220 speed= 12.15km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=14.7% goal=320.10m dL=0.01 ttc=999.00s tl=None credit=472 reason=
[STEP] step=1240 speed= 15.20km/h thr=0.00 brk=0.13 str=+0.03 safe=0 progress=15.9% goal=315.56m dL=0.04 ttc=999.00s tl=None credit=452 reason=
[STEP] step=1260 speed=  1.28km/h thr=0.00 brk=0.52 str=-0.09 safe=0 progress=16.7% goal=312.62m dL=0.04 ttc=999.00s tl=None credit=432 reason=
[STEP] step=1280 speed=  0.07km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=16.7% goal=312.61m dL=0.04 ttc=999.00s tl=None credit=412 reason=
[STEP] step=1300 speed= 16.09km/h thr=0.44 brk=0.00 str=+0.01 safe=1 progress=17.3% goal=310.45m dL=0.02 ttc=999.00s tl=None credit=392 reason=
[STEP] step=1320 speed= 13.13km/h thr=0.00 brk=0.29 str=+0.05 safe=0 progress=18.5% goal=305.93m dL=0.06 ttc=999.00s tl=None credit=372 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.62 str=-0.21 safe=0 progress=19.0% goal=304.05m dL=0.04 ttc=999.00s tl=None credit=352 reason=
[STEP] step=1360 speed=  4.01km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=19.0% goal=303.91m dL=0.04 ttc=999.00s tl=None credit=332 reason=
[STEP] step=1380 speed= 17.82km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=20.0% goal=300.45m dL=0.02 ttc=999.00s tl=None credit=312 reason=
[STEP] step=1400 speed= 10.51km/h thr=0.00 brk=0.39 str=+0.05 safe=0 progress=21.1% goal=296.37m dL=0.06 ttc=999.00s tl=None credit=292 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.15 safe=0 progress=21.3% goal=295.44m dL=0.05 ttc=999.00s tl=None credit=272 reason=
[STEP] step=1440 speed=  9.41km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=21.5% goal=294.73m dL=0.04 ttc=999.00s tl=None credit=252 reason=
[STEP] step=1460 speed= 16.73km/h thr=0.06 brk=0.00 str=-0.01 safe=0 progress=22.6% goal=290.38m dL=0.04 ttc=999.00s tl=None credit=232 reason=
[STEP] step=1480 speed=  7.99km/h thr=0.00 brk=0.51 str=+0.05 safe=0 progress=23.6% goal=286.91m dL=0.05 ttc=999.00s tl=None credit=212 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.67 str=-0.12 safe=0 progress=23.6% goal=286.65m dL=0.05 ttc=999.00s tl=None credit=192 reason=
[STEP] step=1520 speed= 14.02km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=24.1% goal=285.11m dL=0.03 ttc=999.00s tl=None credit=172 reason=
[STEP] step=1540 speed= 14.90km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=25.3% goal=280.50m dL=0.04 ttc=999.00s tl=None credit=152 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.21 safe=0 progress=26.0% goal=277.80m dL=0.07 ttc=999.00s tl=None credit=132 reason=
[STEP] step=1580 speed=  0.88km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=26.0% goal=277.79m dL=0.07 ttc=999.00s tl=None credit=112 reason=
[STEP] step=1600 speed= 17.06km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=26.7% goal=275.18m dL=0.03 ttc=999.00s tl=None credit=92 reason=
[STEP] step=1620 speed= 11.31km/h thr=0.00 brk=0.32 str=+0.04 safe=0 progress=27.9% goal=270.85m dL=0.04 ttc=999.00s tl=Red credit=72 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.20 safe=0 progress=28.2% goal=269.59m dL=0.03 ttc=999.00s tl=Red credit=72 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.20 safe=0 progress=28.2% goal=269.59m dL=0.03 ttc=999.00s tl=Red credit=92 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.20 safe=0 progress=28.2% goal=269.59m dL=0.03 ttc=999.00s tl=Red credit=112 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.20 safe=0 progress=28.2% goal=269.59m dL=0.03 ttc=999.00s tl=Green credit=124 reason=
[STEP] step=1720 speed=  2.37km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=28.2% goal=269.53m dL=0.03 ttc=999.00s tl=Green credit=104 reason=
[STEP] step=1740 speed= 14.50km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=28.9% goal=266.80m dL=0.00 ttc=999.00s tl=None credit=84 reason=
[STEP] step=1760 speed= 10.93km/h thr=0.03 brk=0.00 str=+0.10 safe=0 progress=29.9% goal=263.14m dL=0.25 ttc=999.00s tl=None credit=64 reason=
[STEP] step=1780 speed= 10.12km/h thr=0.03 brk=0.00 str=+0.09 safe=0 progress=30.7% goal=260.30m dL=0.28 ttc=999.00s tl=None credit=44 reason=
[STEP] step=1800 speed=  8.92km/h thr=0.16 brk=0.00 str=+0.12 safe=0 progress=31.3% goal=257.83m dL=0.15 ttc=999.00s tl=None credit=24 reason=
[STEP] step=1820 speed=  7.87km/h thr=0.16 brk=0.00 str=+0.18 safe=0 progress=31.9% goal=255.48m dL=0.16 ttc=999.00s tl=None credit=4 reason=
[STEP] step=1840 speed=  7.77km/h thr=0.15 brk=0.00 str=+0.26 safe=0 progress=32.5% goal=253.31m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed=  7.39km/h thr=0.15 brk=0.00 str=+0.25 safe=0 progress=33.0% goal=251.40m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed=  7.30km/h thr=0.30 brk=0.00 str=+0.28 safe=0 progress=33.5% goal=249.58m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1900 speed=  6.94km/h thr=0.02 brk=0.00 str=+0.21 safe=0 progress=34.1% goal=247.57m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed=  8.10km/h thr=0.16 brk=0.00 str=+0.42 safe=0 progress=34.5% goal=245.74m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed= 11.97km/h thr=0.60 brk=0.00 str=+0.12 safe=0 progress=35.2% goal=243.10m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed= 18.74km/h thr=0.48 brk=0.00 str=+0.05 safe=0 progress=36.5% goal=238.49m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed= 22.84km/h thr=0.40 brk=0.00 str=+0.09 safe=0 progress=38.0% goal=232.65m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed= 21.71km/h thr=0.29 brk=0.00 str=+0.05 safe=0 progress=39.7% goal=226.40m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed= 17.01km/h thr=0.00 brk=0.24 str=+0.05 safe=0 progress=41.2% goal=220.89m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed=  9.20km/h thr=0.00 brk=0.35 str=+0.03 safe=0 progress=42.1% goal=217.31m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed=  0.00km/h thr=0.00 brk=0.63 str=-0.07 safe=0 progress=42.3% goal=216.72m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed= 12.10km/h thr=0.69 brk=0.00 str=+0.08 safe=1 progress=42.6% goal=215.56m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed= 14.12km/h thr=0.00 brk=0.14 str=+0.06 safe=0 progress=43.7% goal=211.34m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed=  7.22km/h thr=0.00 brk=0.24 str=+0.05 safe=0 progress=44.5% goal=208.40m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.03 safe=0 progress=44.6% goal=208.16m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed= 13.57km/h thr=0.46 brk=0.00 str=+0.12 safe=1 progress=45.0% goal=206.62m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2180 speed= 13.29km/h thr=0.00 brk=0.18 str=+0.09 safe=0 progress=46.1% goal=202.39m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.04 safe=0 progress=46.8% goal=199.84m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2220 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=46.8% goal=199.84m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2240 speed= 14.76km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=47.3% goal=197.72m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2260 speed= 11.25km/h thr=0.00 brk=0.20 str=+0.06 safe=0 progress=48.4% goal=193.71m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.06 safe=0 progress=48.8% goal=192.04m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed=  4.03km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=48.9% goal=191.89m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2320 speed= 15.92km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=49.7% goal=188.68m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2340 speed=  9.60km/h thr=0.00 brk=0.19 str=+0.13 safe=0 progress=50.7% goal=185.01m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2360 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.04 safe=0 progress=51.0% goal=183.99m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2380 speed=  8.48km/h thr=0.75 brk=0.00 str=+0.08 safe=1 progress=51.1% goal=183.40m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2400 speed= 15.01km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=52.2% goal=179.55m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2420 speed=  7.30km/h thr=0.00 brk=0.30 str=+0.10 safe=0 progress=53.0% goal=176.51m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2440 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.01 safe=0 progress=53.1% goal=176.19m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2460 speed= 12.62km/h thr=0.49 brk=0.00 str=-0.09 safe=1 progress=53.4% goal=174.86m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2480 speed= 13.04km/h thr=0.00 brk=0.24 str=+0.10 safe=0 progress=54.5% goal=170.77m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.02 safe=0 progress=55.1% goal=168.38m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2520 speed=  0.86km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=55.2% goal=168.37m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2540 speed= 16.44km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=55.8% goal=165.79m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2560 speed= 15.63km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=57.1% goal=161.16m dL=0.16 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=2580 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.01 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=5 reason=
[STEP] step=2600 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=25 reason=
[STEP] step=2620 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=45 reason=
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=65 reason=
[STEP] step=2660 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.01 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=85 reason=
[STEP] step=2680 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=105 reason=
[STEP] step=2700 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=125 reason=
[STEP] step=2720 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=145 reason=
[STEP] step=2740 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=165 reason=
[STEP] step=2760 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=185 reason=
[STEP] step=2780 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.01 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=205 reason=
[STEP] step=2800 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=225 reason=
[STEP] step=2820 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=245 reason=
[STEP] step=2840 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=265 reason=
[STEP] step=2860 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=285 reason=
[STEP] step=2880 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=305 reason=
[STEP] step=2900 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Red credit=325 reason=
[STEP] step=2920 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.04 safe=0 progress=57.7% goal=158.78m dL=0.11 ttc=999.00s tl=Green credit=313 reason=
[STEP] step=2940 speed= 13.06km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=58.1% goal=157.44m dL=0.09 ttc=999.00s tl=Green credit=293 reason=
[STEP] step=2960 speed= 18.76km/h thr=0.47 brk=0.00 str=+0.00 safe=0 progress=59.3% goal=152.66m dL=0.27 ttc=999.00s tl=Green credit=273 reason=
[STEP] step=2980 speed= 24.47km/h thr=0.16 brk=0.00 str=+0.14 safe=0 progress=60.9% goal=146.64m dL=0.45 ttc=999.00s tl=None credit=253 reason=
[STEP] step=3000 speed= 19.51km/h thr=0.46 brk=0.00 str=-0.01 safe=0 progress=62.5% goal=140.71m dL=0.21 ttc=999.00s tl=None credit=233 reason=
[STEP] step=3020 speed= 20.74km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=64.0% goal=135.01m dL=0.26 ttc=999.00s tl=None credit=213 reason=
[STEP] step=3040 speed= 20.58km/h thr=0.33 brk=0.00 str=-0.06 safe=0 progress=65.6% goal=129.26m dL=0.18 ttc=999.00s tl=None credit=193 reason=
[STEP] step=3060 speed= 21.82km/h thr=0.33 brk=0.00 str=-0.05 safe=0 progress=67.2% goal=123.30m dL=0.20 ttc=999.00s tl=None credit=173 reason=
[STEP] step=3080 speed= 19.97km/h thr=0.36 brk=0.00 str=-0.08 safe=0 progress=68.7% goal=117.33m dL=0.19 ttc=999.00s tl=None credit=153 reason=
[STEP] step=3100 speed= 20.97km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=70.3% goal=111.49m dL=0.33 ttc=999.00s tl=None credit=133 reason=
[STEP] step=3120 speed= 18.93km/h thr=0.28 brk=0.00 str=-0.06 safe=0 progress=71.8% goal=105.88m dL=0.40 ttc=999.00s tl=None credit=113 reason=
[STEP] step=3140 speed= 18.36km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=73.2% goal=100.60m dL=0.54 ttc=999.00s tl=None credit=93 reason=
[STEP] step=3160 speed= 18.12km/h thr=0.31 brk=0.00 str=+0.03 safe=0 progress=74.5% goal=95.59m dL=0.67 ttc=999.00s tl=None credit=73 reason=
[STEP] step=3180 speed= 18.23km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=75.9% goal=90.56m dL=0.77 ttc=999.00s tl=None credit=53 reason=
[STEP] step=3200 speed= 18.07km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=77.2% goal=85.54m dL=0.81 ttc=999.00s tl=None credit=33 reason=
[STEP] step=3220 speed= 18.04km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=78.5% goal=80.53m dL=0.87 ttc=999.00s tl=None credit=13 reason=
[STEP] step=3240 speed= 18.17km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=79.9% goal=75.52m dL=0.94 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3260 speed= 18.23km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=81.2% goal=70.51m dL=0.99 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3280 speed= 18.33km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=82.6% goal=65.48m dL=1.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3300 speed= 18.33km/h thr=0.29 brk=0.00 str=+0.00 safe=0 progress=83.9% goal=60.44m dL=1.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3320 speed= 18.08km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=85.2% goal=55.40m dL=1.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3340 speed= 18.13km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=86.6% goal=50.36m dL=1.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3360 speed= 18.41km/h thr=0.31 brk=0.00 str=+0.00 safe=0 progress=87.9% goal=45.30m dL=1.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3380 speed= 18.47km/h thr=0.31 brk=0.00 str=+0.00 safe=0 progress=89.3% goal=40.24m dL=1.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3400 speed= 18.15km/h thr=0.32 brk=0.00 str=-0.00 safe=0 progress=90.6% goal=35.18m dL=1.33 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3420 speed= 18.24km/h thr=0.33 brk=0.00 str=-0.00 safe=0 progress=92.0% goal=30.10m dL=1.38 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3440 speed= 19.22km/h thr=0.45 brk=0.00 str=-0.02 safe=0 progress=93.3% goal=24.98m dL=1.48 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3460 speed= 22.62km/h thr=0.39 brk=0.00 str=+0.08 safe=0 progress=94.9% goal=19.28m dL=1.64 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3462 speed= 22.83km/h thr=0.45 brk=0.00 str=+0.02 safe=0 progress=95.0% goal=18.73m dL=1.67 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=06 R=418.95 steps=3462 success=1 progress=95.0% DS=95.01 intv=0.152 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 233 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 148 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=79.97% dL=7.00m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=148 goal_idx=None route_len=398.4m spawn=(32.9,-67.9,-0.0) yaw=180.0 start_progress=0.00% start_dL=0.07
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=398.45m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=398.45m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=396.90m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.69km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=1.5% goal=392.44m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.21 safe=0 progress=2.0% goal=390.54m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.86km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=2.0% goal=390.39m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.97km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=2.9% goal=386.94m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.38km/h thr=0.00 brk=0.28 str=-0.00 safe=0 progress=3.9% goal=382.89m dL=0.05 ttc=664.22s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.17 safe=0 progress=4.2% goal=381.81m dL=0.04 ttc=80.92s tl=None credit=0 reason=
[STEP] step=0180 speed=  8.46km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=4.3% goal=381.22m dL=0.03 ttc=68.49s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.70km/h thr=0.00 brk=0.23 str=+0.03 safe=0 progress=5.4% goal=377.02m dL=0.04 ttc=74.45s tl=None credit=0 reason=
[STEP] step=0220 speed=  7.84km/h thr=0.00 brk=0.38 str=-0.01 safe=0 progress=6.2% goal=373.65m dL=0.05 ttc=43.53s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=6.3% goal=373.31m dL=0.05 ttc=30.40s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.16km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=6.6% goal=372.15m dL=0.04 ttc=36.48s tl=None credit=0 reason=
[STEP] step=0280 speed= 14.43km/h thr=0.00 brk=0.24 str=+0.00 safe=0 progress=7.7% goal=367.67m dL=0.06 ttc=40.03s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.02km/h thr=0.00 brk=0.55 str=-0.11 safe=0 progress=8.4% goal=364.95m dL=0.04 ttc=26.60s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.22km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=8.4% goal=364.94m dL=0.04 ttc=28.53s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.54km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=9.0% goal=362.56m dL=0.02 ttc=78.97s tl=None credit=0 reason=
[STEP] step=0360 speed= 12.50km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=10.1% goal=358.10m dL=0.04 ttc=87.47s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.13 safe=0 progress=10.6% goal=356.21m dL=0.02 ttc=45.43s tl=None credit=0 reason=
[STEP] step=0400 speed=  3.95km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=10.6% goal=356.06m dL=0.02 ttc=71.07s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.83km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=11.5% goal=352.61m dL=0.01 ttc=246.52s tl=None credit=0 reason=
[STEP] step=0440 speed= 10.58km/h thr=0.00 brk=0.30 str=-0.03 safe=0 progress=12.5% goal=348.54m dL=0.03 ttc=46.74s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.12 safe=0 progress=12.8% goal=347.35m dL=0.02 ttc=20.80s tl=None credit=0 reason=
[STEP] step=0480 speed=  7.64km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=12.9% goal=346.88m dL=0.01 ttc=21.75s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.30km/h thr=0.00 brk=0.16 str=+0.04 safe=0 progress=14.0% goal=342.77m dL=0.03 ttc=41.96s tl=Red credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=20.23s tl=Red credit=2 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=19.67s tl=Red credit=22 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=19.34s tl=Red credit=42 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=19.20s tl=Red credit=62 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=19.26s tl=Red credit=82 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=19.60s tl=Red credit=102 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=20.32s tl=Red credit=122 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=21.64s tl=Red credit=142 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=23.93s tl=Red credit=162 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=27.95s tl=Red credit=182 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=36.49s tl=Red credit=202 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=59.16s tl=Red credit=222 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=106.93s tl=Red credit=242 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=255.80s tl=Red credit=262 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Red credit=282 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Red credit=302 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Red credit=322 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Red credit=342 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Red credit=362 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Red credit=382 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Red credit=402 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.20 safe=0 progress=14.7% goal=339.86m dL=0.04 ttc=999.00s tl=Green credit=402 reason=
[STEP] step=0960 speed=  7.61km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=14.8% goal=339.38m dL=0.03 ttc=999.00s tl=Green credit=382 reason=
[STEP] step=0980 speed= 17.37km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=15.9% goal=335.27m dL=0.04 ttc=999.00s tl=None credit=362 reason=
[STEP] step=1000 speed=  8.89km/h thr=0.00 brk=0.27 str=+0.01 safe=0 progress=16.8% goal=331.67m dL=0.02 ttc=999.00s tl=None credit=342 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.17 safe=0 progress=16.9% goal=331.10m dL=0.01 ttc=999.00s tl=None credit=322 reason=
[STEP] step=1040 speed= 11.20km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=17.2% goal=330.09m dL=0.01 ttc=999.00s tl=None credit=302 reason=
[STEP] step=1060 speed= 14.83km/h thr=0.00 brk=0.21 str=-0.01 safe=0 progress=18.3% goal=325.68m dL=0.03 ttc=999.00s tl=None credit=282 reason=
[STEP] step=1080 speed=  1.25km/h thr=0.00 brk=0.49 str=-0.10 safe=0 progress=19.0% goal=322.78m dL=0.01 ttc=999.00s tl=None credit=262 reason=
[STEP] step=1100 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=19.0% goal=322.78m dL=0.01 ttc=999.00s tl=None credit=242 reason=
[STEP] step=1120 speed= 16.10km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=19.5% goal=320.61m dL=0.01 ttc=999.00s tl=None credit=222 reason=
[STEP] step=1140 speed= 13.01km/h thr=0.00 brk=0.20 str=+0.01 safe=0 progress=20.7% goal=316.10m dL=0.02 ttc=999.00s tl=None credit=202 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.17 safe=0 progress=21.2% goal=314.01m dL=0.00 ttc=999.00s tl=None credit=182 reason=
[STEP] step=1180 speed=  3.20km/h thr=0.75 brk=0.00 str=+0.05 safe=1 progress=21.2% goal=313.91m dL=0.00 ttc=999.00s tl=None credit=162 reason=
[STEP] step=1200 speed= 17.71km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=22.0% goal=310.66m dL=0.01 ttc=999.00s tl=None credit=142 reason=
[STEP] step=1220 speed= 11.10km/h thr=0.00 brk=0.27 str=+0.03 safe=0 progress=23.1% goal=306.50m dL=0.01 ttc=999.00s tl=None credit=122 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.09 safe=0 progress=23.4% goal=305.15m dL=0.01 ttc=234.91s tl=None credit=102 reason=
[STEP] step=1260 speed=  6.66km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=23.5% goal=304.78m dL=0.01 ttc=91.45s tl=None credit=82 reason=
[STEP] step=1280 speed= 16.69km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=24.5% goal=300.97m dL=0.04 ttc=104.22s tl=None credit=62 reason=
[STEP] step=1300 speed=  8.09km/h thr=0.00 brk=0.34 str=-0.05 safe=0 progress=25.3% goal=297.55m dL=0.18 ttc=12.88s tl=None credit=42 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.12 safe=0 progress=25.4% goal=297.16m dL=0.19 ttc=9.18s tl=None credit=22 reason=
[STEP] step=1340 speed= 12.91km/h thr=0.53 brk=0.00 str=-0.08 safe=1 progress=25.8% goal=295.82m dL=0.11 ttc=10.58s tl=None credit=2 reason=
[STEP] step=1360 speed= 13.19km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=26.8% goal=291.65m dL=0.10 ttc=11.58s tl=None credit=0 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.19 safe=0 progress=27.3% goal=289.54m dL=0.15 ttc=11.14s tl=None credit=0 reason=
[STEP] step=1400 speed=  2.41km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=27.3% goal=289.48m dL=0.14 ttc=12.05s tl=None credit=0 reason=
[STEP] step=1420 speed= 15.85km/h thr=0.36 brk=0.00 str=-0.12 safe=0 progress=28.1% goal=286.57m dL=0.01 ttc=42.68s tl=None credit=0 reason=
[STEP] step=1440 speed= 13.36km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=29.1% goal=282.50m dL=0.01 ttc=202.15s tl=None credit=0 reason=
[STEP] step=1460 speed= 13.33km/h thr=0.15 brk=0.00 str=+0.04 safe=0 progress=30.0% goal=278.80m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed= 13.69km/h thr=0.18 brk=0.00 str=+0.00 safe=0 progress=31.0% goal=275.01m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 13.38km/h thr=0.33 brk=0.00 str=+0.04 safe=0 progress=31.9% goal=271.28m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 12.95km/h thr=0.42 brk=0.00 str=-0.19 safe=0 progress=32.9% goal=267.53m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed= 13.97km/h thr=0.20 brk=0.00 str=-0.21 safe=0 progress=33.8% goal=263.57m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed= 13.97km/h thr=0.20 brk=0.00 str=-0.02 safe=0 progress=34.8% goal=259.69m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 13.91km/h thr=0.21 brk=0.00 str=-0.06 safe=0 progress=35.8% goal=255.84m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed= 13.86km/h thr=0.21 brk=0.00 str=-0.13 safe=0 progress=36.8% goal=252.00m dL=0.30 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed= 13.89km/h thr=0.21 brk=0.00 str=-0.09 safe=0 progress=37.7% goal=248.14m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed= 13.89km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=38.7% goal=244.29m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed= 14.12km/h thr=0.19 brk=0.00 str=-0.01 safe=0 progress=39.7% goal=240.45m dL=0.27 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed= 14.79km/h thr=0.16 brk=0.00 str=-0.08 safe=0 progress=40.6% goal=236.51m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1700 speed= 16.02km/h thr=0.33 brk=0.00 str=-0.11 safe=0 progress=41.7% goal=232.24m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed= 16.18km/h thr=0.25 brk=0.00 str=-0.15 safe=0 progress=42.8% goal=227.78m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed= 18.58km/h thr=0.55 brk=0.00 str=-0.06 safe=0 progress=44.0% goal=223.03m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed= 20.76km/h thr=0.27 brk=0.00 str=-0.03 safe=0 progress=45.4% goal=217.54m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed= 18.27km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=46.8% goal=212.04m dL=0.06 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1800 speed= 13.35km/h thr=0.54 brk=0.00 str=-0.02 safe=0 progress=47.8% goal=208.02m dL=0.02 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1820 speed= 19.83km/h thr=0.54 brk=0.00 str=+0.07 safe=0 progress=49.0% goal=203.25m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed= 22.89km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=50.5% goal=197.15m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed= 21.38km/h thr=0.31 brk=0.00 str=-0.01 safe=0 progress=52.1% goal=190.98m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed= 20.58km/h thr=0.34 brk=0.00 str=-0.00 safe=0 progress=53.5% goal=185.17m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1900 speed= 20.69km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=55.0% goal=179.44m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed= 21.22km/h thr=0.37 brk=0.00 str=+0.00 safe=0 progress=56.4% goal=173.62m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed= 21.68km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=57.9% goal=167.63m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed= 22.13km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=59.5% goal=161.53m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed= 22.39km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=61.0% goal=155.34m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed= 22.55km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=62.6% goal=149.08m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed= 22.58km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=64.2% goal=142.80m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed= 22.61km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=65.7% goal=136.51m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed= 21.04km/h thr=0.00 brk=0.24 str=+0.04 safe=0 progress=67.3% goal=130.26m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.16 safe=0 progress=67.7% goal=128.83m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed=  9.50km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=67.8% goal=128.13m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed= 14.78km/h thr=0.00 brk=0.40 str=-0.12 safe=0 progress=68.9% goal=123.99m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.17 safe=0 progress=69.5% goal=121.72m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed=  2.38km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=69.5% goal=121.66m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2180 speed= 16.68km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=70.2% goal=118.67m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2200 speed=  9.24km/h thr=0.00 brk=0.47 str=-0.08 safe=0 progress=71.2% goal=114.74m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.63 str=-0.12 safe=0 progress=71.4% goal=114.15m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2240 speed= 11.20km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=71.6% goal=113.13m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2260 speed= 14.63km/h thr=0.00 brk=0.42 str=-0.11 safe=0 progress=72.7% goal=108.80m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.15 safe=0 progress=73.3% goal=106.46m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed=  1.66km/h thr=0.75 brk=0.00 str=+0.08 safe=1 progress=73.3% goal=106.43m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2320 speed= 16.40km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=74.0% goal=103.64m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2340 speed=  9.61km/h thr=0.00 brk=0.50 str=-0.04 safe=0 progress=75.0% goal=99.62m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2360 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.07 safe=0 progress=75.2% goal=98.82m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2380 speed= 10.26km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=75.4% goal=97.97m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2400 speed= 15.10km/h thr=0.00 brk=0.40 str=-0.11 safe=0 progress=76.5% goal=93.71m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2420 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.12 safe=0 progress=77.1% goal=91.14m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2440 speed=  0.93km/h thr=0.75 brk=0.00 str=+0.15 safe=1 progress=77.1% goal=91.13m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2460 speed= 15.75km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=77.8% goal=88.58m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2480 speed= 10.23km/h thr=0.00 brk=0.41 str=-0.05 safe=0 progress=78.8% goal=84.55m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.07 safe=0 progress=79.0% goal=83.74m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2520 speed= 10.27km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=79.2% goal=82.88m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2540 speed= 14.54km/h thr=0.00 brk=0.40 str=-0.09 safe=0 progress=80.2% goal=78.75m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.16 safe=0 progress=80.8% goal=76.44m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2580 speed=  1.46km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=80.8% goal=76.41m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2600 speed= 15.83km/h thr=0.36 brk=0.00 str=-0.05 safe=0 progress=81.5% goal=73.67m dL=0.04 ttc=327.69s tl=None credit=0 reason=
[STEP] step=2620 speed=  8.78km/h thr=0.00 brk=0.42 str=-0.08 safe=0 progress=82.4% goal=69.97m dL=0.04 ttc=387.10s tl=None credit=0 reason=
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.12 safe=0 progress=82.6% goal=69.42m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2660 speed= 12.13km/h thr=0.71 brk=0.00 str=-0.10 safe=1 progress=82.9% goal=68.25m dL=0.05 ttc=248.10s tl=None credit=0 reason=
[STEP] step=2680 speed= 13.46km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=83.9% goal=64.04m dL=0.04 ttc=175.94s tl=None credit=0 reason=
[STEP] step=2700 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.15 safe=0 progress=84.4% goal=62.07m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2720 speed=  3.25km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=84.4% goal=61.97m dL=0.03 ttc=777.85s tl=None credit=0 reason=
[STEP] step=2740 speed= 16.30km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=85.2% goal=58.85m dL=0.05 ttc=157.47s tl=None credit=0 reason=
[STEP] step=2760 speed=  8.42km/h thr=0.00 brk=0.43 str=-0.07 safe=0 progress=86.1% goal=55.20m dL=0.02 ttc=62.48s tl=None credit=0 reason=
[STEP] step=2780 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.06 safe=0 progress=86.3% goal=54.76m dL=0.03 ttc=97.60s tl=None credit=0 reason=
[STEP] step=2800 speed= 12.94km/h thr=0.59 brk=0.00 str=-0.09 safe=1 progress=86.6% goal=53.42m dL=0.05 ttc=34.40s tl=None credit=0 reason=
[STEP] step=2820 speed= 13.02km/h thr=0.00 brk=0.44 str=-0.18 safe=0 progress=87.7% goal=49.19m dL=0.01 ttc=30.68s tl=None credit=0 reason=
[STEP] step=2840 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.07 safe=0 progress=88.1% goal=47.36m dL=0.09 ttc=44.62s tl=None credit=0 reason=
[STEP] step=2860 speed=  4.12km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=88.2% goal=47.21m dL=0.08 ttc=39.60s tl=None credit=0 reason=
[STEP] step=2880 speed= 16.87km/h thr=0.24 brk=0.00 str=+0.09 safe=0 progress=89.0% goal=43.86m dL=0.06 ttc=26.70s tl=None credit=0 reason=
[STEP] step=2900 speed= 16.19km/h thr=0.19 brk=0.00 str=-0.14 safe=0 progress=90.1% goal=39.32m dL=0.10 ttc=24.11s tl=None credit=0 reason=
[STEP] step=2920 speed= 14.16km/h thr=0.66 brk=0.00 str=-0.13 safe=0 progress=91.1% goal=35.53m dL=0.56 ttc=24.18s tl=None credit=0 reason=
[STEP] step=2940 speed= 18.92km/h thr=0.40 brk=0.00 str=+0.00 safe=0 progress=92.3% goal=30.65m dL=1.20 ttc=20.71s tl=None credit=0 reason=
[STEP] step=2960 speed= 19.98km/h thr=0.31 brk=0.00 str=+0.03 safe=0 progress=93.7% goal=25.16m dL=1.39 ttc=20.04s tl=None credit=0 reason=
[STEP] step=2980 speed= 18.34km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=95.0% goal=19.83m dL=1.31 ttc=20.45s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=07 R=160.21 steps=2980 success=1 progress=95.0% DS=95.02 intv=0.218 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 236 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 132 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=38.24m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=132 goal_idx=None route_len=390.2m spawn=(106.4,-1.7,-0.0) yaw=-89.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=390.22m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=390.22m dL=0.00 ttc=29.64s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.64km/h thr=0.49 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=388.60m dL=0.00 ttc=17.63s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.02km/h thr=0.00 brk=0.20 str=+0.01 safe=0 progress=1.6% goal=384.02m dL=0.07 ttc=18.47s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.09 safe=0 progress=2.3% goal=381.35m dL=0.14 ttc=14.74s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=2.3% goal=381.35m dL=0.14 ttc=13.92s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.20km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=2.9% goal=378.96m dL=0.05 ttc=17.01s tl=None credit=0 reason=
[STEP] step=0140 speed= 12.74km/h thr=0.00 brk=0.21 str=+0.01 safe=0 progress=4.0% goal=374.54m dL=0.11 ttc=16.99s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.19 safe=0 progress=4.5% goal=372.56m dL=0.16 ttc=12.53s tl=None credit=0 reason=
[STEP] step=0180 speed=  3.19km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=4.6% goal=372.46m dL=0.15 ttc=12.70s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.24km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=5.3% goal=369.37m dL=0.03 ttc=20.23s tl=None credit=0 reason=
[STEP] step=0220 speed=  9.72km/h thr=0.00 brk=0.29 str=-0.06 safe=0 progress=6.3% goal=365.58m dL=0.04 ttc=18.57s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.08 safe=0 progress=6.6% goal=364.64m dL=0.05 ttc=15.38s tl=None credit=0 reason=
[STEP] step=0260 speed=  8.57km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=6.7% goal=364.05m dL=0.00 ttc=26.16s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.40km/h thr=0.00 brk=0.22 str=+0.01 safe=0 progress=7.7% goal=360.11m dL=0.06 ttc=17.04s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.10km/h thr=0.00 brk=0.33 str=-0.07 safe=0 progress=8.5% goal=357.02m dL=0.04 ttc=17.65s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.15 safe=0 progress=8.6% goal=356.85m dL=0.04 ttc=18.78s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.01km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=9.0% goal=355.13m dL=0.03 ttc=14.21s tl=None credit=0 reason=
[STEP] step=0360 speed= 12.23km/h thr=0.00 brk=0.28 str=-0.06 safe=0 progress=10.1% goal=351.00m dL=0.01 ttc=13.36s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.13 safe=0 progress=10.5% goal=349.13m dL=0.05 ttc=15.13s tl=None credit=0 reason=
[STEP] step=0400 speed=  3.21km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=10.6% goal=349.03m dL=0.05 ttc=13.43s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.11km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=11.3% goal=345.94m dL=0.04 ttc=9.69s tl=None credit=0 reason=
[STEP] step=0440 speed=  9.36km/h thr=0.00 brk=0.31 str=-0.11 safe=0 progress=12.3% goal=342.22m dL=0.06 ttc=9.55s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.12 safe=0 progress=12.5% goal=341.45m dL=0.07 ttc=8.61s tl=None credit=0 reason=
[STEP] step=0480 speed= 10.23km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=12.7% goal=340.61m dL=0.02 ttc=7.49s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.94km/h thr=0.00 brk=0.09 str=-0.06 safe=0 progress=13.8% goal=336.47m dL=0.02 ttc=5.81s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.18km/h thr=0.30 brk=0.00 str=-0.10 safe=0 progress=14.7% goal=332.88m dL=0.04 ttc=4.78s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.53km/h thr=0.20 brk=0.00 str=+0.02 safe=0 progress=15.7% goal=328.98m dL=0.03 ttc=3.84s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.48km/h thr=0.26 brk=0.00 str=-0.06 safe=0 progress=16.6% goal=325.25m dL=0.04 ttc=2.77s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.41km/h thr=0.21 brk=0.00 str=-0.11 safe=0 progress=17.6% goal=321.51m dL=0.04 ttc=1.76s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.41km/h thr=0.21 brk=0.00 str=-0.10 safe=0 progress=18.6% goal=317.78m dL=0.07 ttc=0.82s tl=None credit=0 reason=
[STEP] step=0620 speed= 14.81km/h thr=0.42 brk=0.00 str=-0.12 safe=0 progress=19.6% goal=313.84m dL=0.10 ttc=7.11s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.17km/h thr=0.28 brk=0.00 str=-0.13 safe=0 progress=20.7% goal=309.41m dL=0.14 ttc=6.66s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.35km/h thr=0.10 brk=0.00 str=-0.05 safe=0 progress=21.9% goal=304.91m dL=0.24 ttc=5.85s tl=None credit=0 reason=
[STEP] step=0680 speed= 15.00km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=23.0% goal=300.46m dL=0.17 ttc=5.33s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.77km/h thr=0.39 brk=0.00 str=-0.02 safe=0 progress=24.1% goal=296.04m dL=0.14 ttc=17.04s tl=None credit=0 reason=
[STEP] step=0720 speed= 12.50km/h thr=0.24 brk=0.00 str=-0.10 safe=0 progress=25.2% goal=291.86m dL=0.06 ttc=3.95s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.76km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=26.2% goal=287.79m dL=0.05 ttc=28.59s tl=None credit=0 reason=
[STEP] step=0760 speed= 14.77km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=27.3% goal=283.80m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.27km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=28.4% goal=279.43m dL=0.05 ttc=10.34s tl=None credit=0 reason=
[STEP] step=0800 speed= 14.54km/h thr=0.06 brk=0.00 str=+0.02 safe=0 progress=29.5% goal=275.10m dL=0.06 ttc=9.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.29km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=30.6% goal=270.84m dL=0.01 ttc=12.92s tl=None credit=0 reason=
[STEP] step=0840 speed= 16.05km/h thr=0.42 brk=0.00 str=-0.00 safe=0 progress=31.6% goal=266.78m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 15.68km/h thr=0.42 brk=0.00 str=+0.00 safe=0 progress=32.7% goal=262.47m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 15.68km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=33.9% goal=258.04m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 14.08km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=35.0% goal=253.84m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 15.42km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=36.1% goal=249.48m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 15.82km/h thr=0.42 brk=0.00 str=-0.00 safe=0 progress=37.2% goal=245.08m dL=0.04 ttc=10.36s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.57km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=38.4% goal=240.55m dL=0.03 ttc=11.10s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.41km/h thr=0.20 brk=0.00 str=+0.00 safe=0 progress=39.5% goal=236.03m dL=0.01 ttc=27.52s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.37km/h thr=0.21 brk=0.00 str=-0.05 safe=0 progress=40.7% goal=231.56m dL=0.01 ttc=17.25s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.02km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=41.8% goal=227.06m dL=0.04 ttc=18.54s tl=None credit=0 reason=
[STEP] step=1040 speed= 16.01km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=43.0% goal=222.55m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.71km/h thr=0.18 brk=0.00 str=-0.00 safe=0 progress=44.1% goal=218.09m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed=  7.92km/h thr=0.00 brk=0.83 str=-0.00 safe=0 progress=45.1% goal=214.28m dL=0.02 ttc=12.74s tl=Red credit=0 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.02 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=3.02s tl=Red credit=18 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.81 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=38 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.04 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=58 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=78 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=343.36s tl=Red credit=98 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.06 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=96.74s tl=Red credit=118 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=70.14s tl=Red credit=138 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=71.40s tl=Red credit=158 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=77.15s tl=Red credit=178 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.84 str=+0.04 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=84.76s tl=Red credit=198 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.06 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=94.73s tl=Red credit=218 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=107.98s tl=Red credit=238 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=123.23s tl=Red credit=258 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=149.40s tl=Red credit=278 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=205.18s tl=Red credit=298 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=335.07s tl=Red credit=318 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=606.35s tl=Red credit=338 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.04 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=358 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=378 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.03 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=398 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.82 str=+0.04 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=418 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.85 str=+0.05 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=438 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.04 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Red credit=458 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.02 safe=0 progress=45.1% goal=214.12m dL=0.01 ttc=999.00s tl=Green credit=460 reason=
[STEP] step=1580 speed=  6.83km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=45.2% goal=213.74m dL=0.01 ttc=999.00s tl=Green credit=440 reason=
[STEP] step=1600 speed= 17.64km/h thr=0.13 brk=0.00 str=+0.05 safe=0 progress=46.2% goal=209.77m dL=0.03 ttc=999.00s tl=Green credit=420 reason=
[STEP] step=1620 speed= 15.36km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=47.3% goal=205.51m dL=0.11 ttc=999.00s tl=None credit=400 reason=
[STEP] step=1640 speed= 16.52km/h thr=0.30 brk=0.00 str=+0.09 safe=0 progress=48.5% goal=201.00m dL=0.20 ttc=999.00s tl=None credit=380 reason=
[STEP] step=1660 speed= 16.80km/h thr=0.19 brk=0.00 str=+0.05 safe=0 progress=49.7% goal=196.33m dL=0.09 ttc=999.00s tl=None credit=360 reason=
[STEP] step=1680 speed= 16.57km/h thr=0.23 brk=0.00 str=-0.03 safe=0 progress=50.9% goal=191.70m dL=0.03 ttc=6.45s tl=None credit=340 reason=
[STEP] step=1700 speed= 17.76km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=52.1% goal=186.90m dL=0.06 ttc=361.84s tl=None credit=320 reason=
[STEP] step=1720 speed= 16.42km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=53.3% goal=182.15m dL=0.06 ttc=84.95s tl=None credit=300 reason=
[STEP] step=1740 speed= 17.13km/h thr=0.26 brk=0.00 str=-0.09 safe=0 progress=54.5% goal=177.55m dL=0.15 ttc=47.98s tl=None credit=280 reason=
[STEP] step=1760 speed= 18.02km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=55.7% goal=172.71m dL=0.33 ttc=35.76s tl=None credit=260 reason=
[STEP] step=1780 speed= 12.09km/h thr=0.00 brk=0.20 str=+0.10 safe=0 progress=56.9% goal=168.37m dL=0.28 ttc=32.98s tl=None credit=240 reason=
[STEP] step=1800 speed= 12.45km/h thr=0.18 brk=0.00 str=+0.09 safe=0 progress=57.6% goal=165.31m dL=0.25 ttc=25.93s tl=None credit=220 reason=
[STEP] step=1820 speed= 13.08km/h thr=0.06 brk=0.00 str=-0.06 safe=0 progress=58.6% goal=161.64m dL=0.27 ttc=21.04s tl=None credit=200 reason=
[STEP] step=1840 speed= 11.56km/h thr=0.00 brk=0.40 str=+0.04 safe=0 progress=59.5% goal=158.15m dL=0.16 ttc=19.68s tl=None credit=180 reason=
[STEP] step=1860 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.13 safe=0 progress=59.8% goal=156.70m dL=0.06 ttc=20.27s tl=None credit=160 reason=
[STEP] step=1880 speed=  5.88km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=59.9% goal=156.41m dL=0.05 ttc=17.01s tl=None credit=140 reason=
[STEP] step=1900 speed= 16.17km/h thr=0.12 brk=0.00 str=-0.03 safe=0 progress=60.8% goal=152.85m dL=0.01 ttc=13.59s tl=None credit=120 reason=
[STEP] step=1920 speed=  7.57km/h thr=0.00 brk=0.39 str=-0.14 safe=0 progress=61.7% goal=149.50m dL=0.12 ttc=15.65s tl=None credit=100 reason=
[STEP] step=1940 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.14 safe=0 progress=61.8% goal=149.26m dL=0.12 ttc=20.33s tl=None credit=80 reason=
[STEP] step=1960 speed= 13.43km/h thr=0.42 brk=0.00 str=-0.16 safe=1 progress=62.1% goal=147.74m dL=0.02 ttc=14.47s tl=None credit=60 reason=
[STEP] step=1980 speed= 12.28km/h thr=0.00 brk=0.40 str=-0.08 safe=0 progress=63.2% goal=143.63m dL=0.13 ttc=46.16s tl=None credit=40 reason=
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=63.6% goal=142.04m dL=0.14 ttc=999.00s tl=None credit=20 reason=
[STEP] step=2020 speed=  4.79km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=63.7% goal=141.83m dL=0.14 ttc=103.68s tl=None credit=0 reason=
[STEP] step=2040 speed= 16.28km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=64.5% goal=138.38m dL=0.00 ttc=31.69s tl=None credit=0 reason=
[STEP] step=2060 speed=  7.34km/h thr=0.00 brk=0.43 str=-0.13 safe=0 progress=65.4% goal=135.04m dL=0.10 ttc=59.69s tl=None credit=0 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.28 safe=0 progress=65.4% goal=134.86m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed= 14.19km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=65.9% goal=133.15m dL=0.01 ttc=29.45s tl=None credit=0 reason=
[STEP] step=2120 speed= 12.13km/h thr=0.00 brk=0.41 str=-0.12 safe=0 progress=67.0% goal=128.95m dL=0.11 ttc=32.85s tl=None credit=0 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.19 safe=0 progress=67.3% goal=127.44m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed=  5.83km/h thr=0.75 brk=0.00 str=-0.16 safe=1 progress=67.4% goal=127.15m dL=0.08 ttc=55.96s tl=None credit=0 reason=
[STEP] step=2180 speed= 16.48km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=68.3% goal=123.54m dL=0.03 ttc=10.52s tl=None credit=0 reason=
[STEP] step=2200 speed=  7.17km/h thr=0.00 brk=0.44 str=-0.09 safe=0 progress=69.2% goal=120.23m dL=0.10 ttc=11.48s tl=None credit=0 reason=
[STEP] step=2220 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=69.2% goal=120.10m dL=0.09 ttc=9.82s tl=None credit=0 reason=
[STEP] step=2240 speed= 14.59km/h thr=0.42 brk=0.00 str=+0.08 safe=1 progress=69.7% goal=118.18m dL=0.01 ttc=6.82s tl=None credit=0 reason=
[STEP] step=2260 speed= 11.49km/h thr=0.00 brk=0.30 str=-0.24 safe=0 progress=70.8% goal=114.04m dL=0.08 ttc=18.56s tl=None credit=0 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.06 safe=0 progress=71.1% goal=112.61m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed=  5.85km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=71.2% goal=112.32m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2320 speed= 17.60km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=72.2% goal=108.53m dL=0.02 ttc=107.75s tl=None credit=0 reason=
[STEP] step=2340 speed= 13.80km/h thr=0.30 brk=0.00 str=-0.14 safe=0 progress=73.3% goal=104.16m dL=0.14 ttc=190.96s tl=None credit=0 reason=
[STEP] step=2360 speed= 18.82km/h thr=0.40 brk=0.00 str=+0.09 safe=0 progress=74.5% goal=99.46m dL=0.53 ttc=14.54s tl=None credit=0 reason=
[STEP] step=2380 speed= 14.48km/h thr=0.00 brk=0.08 str=+0.15 safe=0 progress=75.8% goal=94.57m dL=0.61 ttc=20.89s tl=None credit=0 reason=
[STEP] step=2400 speed= 15.70km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=76.8% goal=90.45m dL=0.50 ttc=19.48s tl=Red credit=0 reason=
[STEP] step=2420 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.06 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=3 reason=
[STEP] step=2440 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.04 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=23 reason=
[STEP] step=2460 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.01 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=43 reason=
[STEP] step=2480 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=63 reason=
[STEP] step=2500 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.06 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=83 reason=
[STEP] step=2520 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.03 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=103 reason=
[STEP] step=2540 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.04 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=123 reason=
[STEP] step=2560 speed=  0.00km/h thr=0.00 brk=0.27 str=+0.01 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=143 reason=
[STEP] step=2580 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.07 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=163 reason=
[STEP] step=2600 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.01 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=183 reason=
[STEP] step=2620 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.03 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=203 reason=
[STEP] step=2640 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.02 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=223 reason=
[STEP] step=2660 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.09 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=243 reason=
[STEP] step=2680 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.04 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=263 reason=
[STEP] step=2700 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.02 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=283 reason=
[STEP] step=2720 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.05 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=303 reason=
[STEP] step=2740 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.00 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Red credit=323 reason=
[STEP] step=2760 speed=  0.00km/h thr=0.00 brk=0.33 str=-0.03 safe=0 progress=77.5% goal=87.79m dL=0.41 ttc=999.00s tl=Green credit=341 reason=
[STEP] step=2780 speed=  0.36km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=77.5% goal=87.78m dL=0.41 ttc=999.00s tl=Green credit=321 reason=
[STEP] step=2800 speed= 16.53km/h thr=0.42 brk=0.00 str=-0.04 safe=1 progress=78.1% goal=85.39m dL=0.21 ttc=317.60s tl=None credit=301 reason=
[STEP] step=2820 speed= 17.97km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=79.4% goal=80.56m dL=0.59 ttc=153.99s tl=None credit=281 reason=
[STEP] step=2840 speed= 17.91km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=80.6% goal=75.61m dL=0.92 ttc=279.02s tl=None credit=261 reason=
[STEP] step=2860 speed=  8.96km/h thr=0.00 brk=0.37 str=+0.22 safe=0 progress=81.6% goal=71.85m dL=0.54 ttc=999.00s tl=None credit=241 reason=
[STEP] step=2880 speed=  0.00km/h thr=0.00 brk=0.23 str=+0.06 safe=0 progress=81.7% goal=71.23m dL=0.37 ttc=999.00s tl=None credit=221 reason=
[STEP] step=2900 speed= 10.45km/h thr=0.48 brk=0.00 str=+0.06 safe=0 progress=82.0% goal=70.27m dL=0.21 ttc=999.00s tl=None credit=201 reason=
[STEP] step=2920 speed=  7.19km/h thr=0.00 brk=0.30 str=-0.28 safe=0 progress=82.7% goal=67.44m dL=0.17 ttc=685.15s tl=None credit=181 reason=
[STEP] step=2940 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=161 reason=
[STEP] step=2960 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=141 reason=
[STEP] step=2980 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=121 reason=
[STEP] step=3000 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=101 reason=
[STEP] step=3020 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=81 reason=
[STEP] step=3040 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=61 reason=
[STEP] step=3060 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=41 reason=
[STEP] step=3080 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=21 reason=
[STEP] step=3100 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=1 reason=
[STEP] step=3120 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3140 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=3160 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=36.19s tl=None credit=0 reason=
[STEP] step=3172 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.13 safe=0 progress=82.8% goal=67.29m dL=0.17 ttc=24.39s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=08 R=233.73 steps=3172 success=0 progress=82.8% DS=0.00 intv=0.130 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 240 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 101 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=7.65% dL=15.00m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=101 goal_idx=None route_len=376.5m spawn=(-28.7,28.1,-0.0) yaw=0.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=376.48m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=376.48m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=374.86m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.72km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=1.6% goal=370.40m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.13 safe=0 progress=2.1% goal=368.48m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.14km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=2.1% goal=368.38m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.70km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=3.0% goal=365.13m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.66km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=4.1% goal=361.01m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.15 safe=0 progress=4.4% goal=359.88m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.55km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=4.5% goal=359.40m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.28km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=5.6% goal=355.29m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.56km/h thr=0.00 brk=0.40 str=-0.00 safe=0 progress=6.6% goal=351.73m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.14 safe=0 progress=6.7% goal=351.22m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.15km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=7.0% goal=350.06m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.03km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=8.2% goal=345.52m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  1.23km/h thr=0.00 brk=0.55 str=-0.07 safe=0 progress=9.0% goal=342.62m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.07km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=9.0% goal=342.62m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.09km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=9.6% goal=340.46m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 12.89km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=10.8% goal=335.95m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.12 safe=0 progress=11.3% goal=333.90m dL=0.03 ttc=56.35s tl=None credit=0 reason=
[STEP] step=0400 speed=  3.13km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=11.3% goal=333.80m dL=0.03 ttc=68.05s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.73km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=12.2% goal=330.56m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 11.00km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=13.3% goal=326.38m dL=0.03 ttc=161.10s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.64 str=-0.18 safe=0 progress=13.6% goal=325.15m dL=0.01 ttc=51.44s tl=None credit=0 reason=
[STEP] step=0480 speed=  7.49km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=13.8% goal=324.67m dL=0.01 ttc=40.29s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.26km/h thr=0.00 brk=0.13 str=-0.08 safe=0 progress=14.8% goal=320.58m dL=0.01 ttc=57.49s tl=None credit=0 reason=
[STEP] step=0520 speed=  8.84km/h thr=0.00 brk=0.33 str=-0.03 safe=0 progress=15.8% goal=316.96m dL=0.00 ttc=36.70s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.09 safe=0 progress=16.0% goal=316.40m dL=0.00 ttc=29.16s tl=None credit=0 reason=
[STEP] step=0560 speed= 12.13km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=16.3% goal=315.25m dL=0.00 ttc=50.73s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.20km/h thr=0.00 brk=0.21 str=-0.04 safe=0 progress=17.5% goal=310.70m dL=0.03 ttc=66.34s tl=None credit=0 reason=
[STEP] step=0600 speed=  6.60km/h thr=0.00 brk=0.42 str=-0.04 safe=0 progress=18.3% goal=307.66m dL=0.02 ttc=52.96s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=18.3% goal=307.60m dL=0.02 ttc=54.30s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.40km/h thr=0.55 brk=0.00 str=+0.01 safe=1 progress=18.8% goal=305.65m dL=0.01 ttc=133.05s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.17km/h thr=0.00 brk=0.25 str=-0.04 safe=0 progress=20.0% goal=301.14m dL=0.03 ttc=181.12s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.62 str=-0.15 safe=0 progress=20.6% goal=298.97m dL=0.01 ttc=223.13s tl=None credit=0 reason=
[STEP] step=0700 speed=  2.35km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=20.6% goal=298.91m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 17.67km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=21.4% goal=295.86m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 11.59km/h thr=0.00 brk=0.25 str=+0.04 safe=0 progress=22.6% goal=291.55m dL=0.01 ttc=169.04s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.12 safe=0 progress=23.0% goal=290.03m dL=0.00 ttc=64.36s tl=None credit=0 reason=
[STEP] step=0780 speed=  5.96km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=23.0% goal=289.73m dL=0.00 ttc=28.21s tl=None credit=0 reason=
[STEP] step=0800 speed= 17.86km/h thr=0.12 brk=0.00 str=+0.01 safe=0 progress=24.1% goal=285.89m dL=0.02 ttc=15.20s tl=None credit=0 reason=
[STEP] step=0820 speed= 10.09km/h thr=0.00 brk=0.38 str=-0.04 safe=0 progress=25.1% goal=281.98m dL=0.04 ttc=13.20s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.14 safe=0 progress=25.3% goal=281.09m dL=0.02 ttc=12.51s tl=None credit=0 reason=
[STEP] step=0860 speed=  9.50km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=25.5% goal=280.37m dL=0.02 ttc=8.83s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.53km/h thr=0.00 brk=0.14 str=+0.03 safe=0 progress=26.7% goal=276.02m dL=0.02 ttc=6.62s tl=None credit=0 reason=
[STEP] step=0900 speed=  8.56km/h thr=0.00 brk=0.23 str=+0.04 safe=0 progress=27.6% goal=272.54m dL=0.04 ttc=6.34s tl=Green credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.57 str=+0.00 safe=0 progress=27.8% goal=271.87m dL=0.05 ttc=7.25s tl=Green credit=0 reason=
[STEP] step=0940 speed= 10.35km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=28.0% goal=271.01m dL=0.03 ttc=5.98s tl=Green credit=0 reason=
[STEP] step=0960 speed= 16.43km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=29.1% goal=266.90m dL=0.12 ttc=4.64s tl=None credit=0 reason=
[STEP] step=0980 speed= 12.14km/h thr=0.16 brk=0.00 str=-0.14 safe=0 progress=30.2% goal=262.82m dL=0.07 ttc=8.17s tl=None credit=0 reason=
[STEP] step=1000 speed= 10.37km/h thr=0.14 brk=0.00 str=+0.06 safe=0 progress=31.0% goal=259.80m dL=0.10 ttc=6.98s tl=None credit=0 reason=
[STEP] step=1020 speed=  9.85km/h thr=0.13 brk=0.00 str=+0.18 safe=0 progress=31.8% goal=256.94m dL=0.14 ttc=3.88s tl=None credit=0 reason=
[STEP] step=1040 speed=  9.35km/h thr=0.16 brk=0.00 str=+0.20 safe=0 progress=32.5% goal=254.29m dL=0.05 ttc=2.81s tl=None credit=0 reason=
[STEP] step=1060 speed=  8.86km/h thr=0.05 brk=0.00 str=-0.01 safe=0 progress=33.1% goal=251.79m dL=0.06 ttc=1.99s tl=None credit=0 reason=
[STEP] step=1080 speed=  8.00km/h thr=0.16 brk=0.00 str=+0.18 safe=0 progress=33.7% goal=249.53m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed=  5.90km/h thr=0.18 brk=0.00 str=+0.21 safe=0 progress=34.3% goal=247.49m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed=  3.45km/h thr=0.06 brk=0.00 str=+0.22 safe=0 progress=34.7% goal=245.66m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed=  7.38km/h thr=0.03 brk=0.00 str=+0.27 safe=0 progress=35.2% goal=244.01m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed=  7.88km/h thr=0.25 brk=0.00 str=+0.35 safe=0 progress=35.7% goal=241.92m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 13.62km/h thr=0.48 brk=0.00 str=+0.15 safe=0 progress=36.5% goal=238.99m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed= 17.68km/h thr=0.29 brk=0.00 str=+0.07 safe=0 progress=37.7% goal=234.48m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed= 17.90km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=39.0% goal=229.50m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.19km/h thr=0.38 brk=0.00 str=+0.04 safe=0 progress=40.4% goal=224.51m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed= 18.40km/h thr=0.41 brk=0.00 str=+0.04 safe=0 progress=41.7% goal=219.46m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed= 20.12km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=43.1% goal=214.09m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 21.21km/h thr=0.35 brk=0.00 str=+0.06 safe=0 progress=44.7% goal=208.35m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 20.27km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=46.2% goal=202.61m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed= 19.23km/h thr=0.37 brk=0.00 str=+0.05 safe=0 progress=47.6% goal=197.21m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 19.26km/h thr=0.21 brk=0.00 str=+0.03 safe=0 progress=49.1% goal=191.79m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 11.77km/h thr=0.00 brk=0.20 str=+0.07 safe=0 progress=50.2% goal=187.43m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.09 safe=0 progress=50.6% goal=185.87m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed=  5.86km/h thr=0.75 brk=0.00 str=+0.10 safe=1 progress=50.7% goal=185.59m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 16.50km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=51.7% goal=181.97m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed=  8.97km/h thr=0.00 brk=0.27 str=+0.07 safe=0 progress=52.6% goal=178.42m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.07 safe=0 progress=52.8% goal=177.64m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed=  9.46km/h thr=0.75 brk=0.00 str=+0.10 safe=1 progress=53.0% goal=176.92m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 15.15km/h thr=0.00 brk=0.22 str=+0.04 safe=0 progress=54.1% goal=172.85m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed=  7.36km/h thr=0.00 brk=0.27 str=+0.07 safe=0 progress=54.9% goal=169.77m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.05 safe=0 progress=55.0% goal=169.50m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 13.73km/h thr=0.46 brk=0.00 str=+0.11 safe=1 progress=55.4% goal=167.96m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed= 13.06km/h thr=0.00 brk=0.27 str=+0.07 safe=0 progress=56.5% goal=163.70m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.02 safe=0 progress=57.1% goal=161.41m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed=  1.69km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=57.1% goal=161.37m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed= 15.33km/h thr=0.42 brk=0.00 str=+0.10 safe=1 progress=57.9% goal=158.67m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed= 10.29km/h thr=0.00 brk=0.23 str=+0.08 safe=0 progress=58.9% goal=154.82m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.05 safe=0 progress=59.2% goal=153.54m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed=  6.77km/h thr=0.75 brk=0.00 str=+0.17 safe=1 progress=59.3% goal=153.17m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed= 15.97km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=60.3% goal=149.48m dL=0.03 ttc=492.36s tl=None credit=0 reason=
[STEP] step=1760 speed=  8.06km/h thr=0.00 brk=0.27 str=+0.12 safe=0 progress=61.2% goal=146.17m dL=0.00 ttc=376.58s tl=None credit=0 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=61.3% goal=145.72m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed= 12.01km/h thr=0.61 brk=0.00 str=+0.14 safe=1 progress=61.6% goal=144.56m dL=0.05 ttc=186.31s tl=None credit=0 reason=
[STEP] step=1820 speed= 13.45km/h thr=0.00 brk=0.25 str=+0.02 safe=0 progress=62.7% goal=140.45m dL=0.03 ttc=174.40s tl=None credit=0 reason=
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=63.3% goal=138.04m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed=  0.98km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=63.3% goal=138.02m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed= 15.01km/h thr=0.42 brk=0.00 str=+0.15 safe=1 progress=64.0% goal=135.51m dL=0.06 ttc=85.50s tl=None credit=0 reason=
[STEP] step=1900 speed= 11.54km/h thr=0.00 brk=0.29 str=+0.10 safe=0 progress=65.1% goal=131.42m dL=0.03 ttc=97.83s tl=None credit=0 reason=
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.01 safe=0 progress=65.5% goal=129.80m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed=  4.90km/h thr=0.75 brk=0.00 str=+0.16 safe=1 progress=65.6% goal=129.58m dL=0.05 ttc=193.41s tl=None credit=0 reason=
[STEP] step=1960 speed= 18.13km/h thr=0.48 brk=0.00 str=-0.13 safe=0 progress=66.6% goal=125.93m dL=0.12 ttc=62.75s tl=None credit=0 reason=
[STEP] step=1980 speed= 19.26km/h thr=0.53 brk=0.00 str=+0.03 safe=0 progress=67.9% goal=120.84m dL=0.43 ttc=50.14s tl=None credit=0 reason=
[STEP] step=2000 speed= 18.63km/h thr=0.00 brk=0.28 str=-0.07 safe=0 progress=69.4% goal=115.15m dL=0.38 ttc=46.47s tl=None credit=0 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.01 safe=0 progress=69.6% goal=114.37m dL=0.34 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed= 12.15km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=69.9% goal=113.21m dL=0.22 ttc=69.11s tl=None credit=0 reason=
[STEP] step=2060 speed= 18.50km/h thr=0.54 brk=0.00 str=-0.04 safe=0 progress=71.2% goal=108.50m dL=0.31 ttc=59.75s tl=None credit=0 reason=
[STEP] step=2080 speed= 22.05km/h thr=0.00 brk=0.08 str=+0.11 safe=0 progress=72.8% goal=102.55m dL=0.49 ttc=41.06s tl=None credit=0 reason=
[STEP] step=2100 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.01 safe=0 progress=73.4% goal=100.26m dL=0.42 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed=  7.54km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=73.5% goal=99.79m dL=0.35 ttc=104.05s tl=None credit=0 reason=
[STEP] step=2140 speed= 18.02km/h thr=0.44 brk=0.00 str=-0.09 safe=0 progress=74.6% goal=95.67m dL=0.25 ttc=68.67s tl=None credit=0 reason=
[STEP] step=2160 speed= 21.28km/h thr=0.25 brk=0.00 str=+0.10 safe=0 progress=76.1% goal=90.16m dL=0.55 ttc=52.67s tl=None credit=0 reason=
[STEP] step=2180 speed= 16.37km/h thr=0.12 brk=0.00 str=-0.05 safe=0 progress=77.4% goal=84.90m dL=0.42 ttc=75.03s tl=None credit=0 reason=
[STEP] step=2200 speed= 18.16km/h thr=0.34 brk=0.00 str=-0.02 safe=0 progress=78.7% goal=80.27m dL=0.63 ttc=85.30s tl=None credit=0 reason=
[STEP] step=2220 speed= 18.07km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=80.0% goal=75.21m dL=0.76 ttc=82.63s tl=None credit=0 reason=
[STEP] step=2240 speed= 18.07km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=81.4% goal=70.18m dL=0.81 ttc=87.85s tl=None credit=0 reason=
[STEP] step=2260 speed= 17.96km/h thr=0.25 brk=0.00 str=-0.00 safe=0 progress=82.7% goal=65.18m dL=0.85 ttc=105.99s tl=None credit=0 reason=
[STEP] step=2280 speed= 18.01km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=84.0% goal=60.19m dL=0.92 ttc=132.72s tl=None credit=0 reason=
[STEP] step=2300 speed= 18.00km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=85.3% goal=55.19m dL=0.97 ttc=191.35s tl=None credit=0 reason=
[STEP] step=2320 speed= 18.05km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=86.7% goal=50.18m dL=1.03 ttc=364.44s tl=None credit=0 reason=
[STEP] step=2340 speed= 18.06km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=88.0% goal=45.17m dL=1.08 ttc=923.13s tl=None credit=0 reason=
[STEP] step=2360 speed= 18.06km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=89.3% goal=40.15m dL=1.10 ttc=332.37s tl=Red credit=0 reason=
[STEP] step=2380 speed= 17.73km/h thr=0.29 brk=0.00 str=-0.02 safe=0 progress=90.6% goal=35.24m dL=1.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2400 speed= 18.05km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=92.0% goal=30.24m dL=1.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2420 speed= 18.39km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=93.3% goal=25.19m dL=1.29 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2440 speed= 18.09km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=94.7% goal=20.14m dL=1.32 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2446 speed= 18.07km/h thr=0.31 brk=0.00 str=+0.00 safe=0 progress=95.1% goal=18.62m dL=1.33 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=09 R=-62.02 steps=2446 success=1 progress=95.1% DS=95.05 intv=0.235 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 243 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 80 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=23.29% dL=11.50m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=80 goal_idx=None route_len=387.5m spawn=(-87.3,24.4,-0.0) yaw=0.2 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=387.46m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=387.46m dL=0.00 ttc=38.79s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=385.84m dL=0.00 ttc=14.22s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.92km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=1.6% goal=381.35m dL=0.04 ttc=13.50s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.13 safe=0 progress=2.1% goal=379.35m dL=0.04 ttc=15.74s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.23km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=2.1% goal=379.25m dL=0.04 ttc=13.43s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.71km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=3.0% goal=375.99m dL=0.01 ttc=9.06s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.28km/h thr=0.00 brk=0.78 str=-0.07 safe=0 progress=4.0% goal=371.93m dL=0.05 ttc=9.16s tl=Red credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.81 str=+0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=9.70s tl=Red credit=16 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=8.74s tl=Red credit=36 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.80 str=+0.01 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=8.59s tl=Red credit=56 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.06 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=9.37s tl=Red credit=76 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=96 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.04 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=116 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=136 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=156 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=176 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=196 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=216 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=236 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=256 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=276 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=10.81s tl=Red credit=296 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.80 str=-0.00 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=10.34s tl=Red credit=316 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.80 str=+0.04 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=10.46s tl=Red credit=336 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.84 str=+0.05 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=9.00s tl=Red credit=356 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.01 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=7.24s tl=Red credit=376 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=5.62s tl=Red credit=396 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=4.05s tl=Red credit=416 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.08 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=2.94s tl=Red credit=436 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.01 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=3.25s tl=Red credit=456 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.06 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=476 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.79 str=-0.04 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=496 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.80 str=+0.00 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=516 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.80 str=+0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=536 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Red credit=556 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.03 safe=0 progress=4.1% goal=371.51m dL=0.04 ttc=999.00s tl=Green credit=574 reason=
[STEP] step=0740 speed=  0.39km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=4.1% goal=371.50m dL=0.04 ttc=999.00s tl=Green credit=554 reason=
[STEP] step=0760 speed= 16.54km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=4.7% goal=369.11m dL=0.02 ttc=999.00s tl=Green credit=534 reason=
[STEP] step=0780 speed= 15.00km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=5.9% goal=364.47m dL=0.07 ttc=999.00s tl=None credit=514 reason=
[STEP] step=0800 speed= 15.26km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=7.1% goal=360.05m dL=0.17 ttc=999.00s tl=None credit=494 reason=
[STEP] step=0820 speed= 13.47km/h thr=0.06 brk=0.00 str=+0.03 safe=0 progress=8.2% goal=355.71m dL=0.09 ttc=999.00s tl=None credit=474 reason=
[STEP] step=0840 speed= 16.72km/h thr=0.18 brk=0.00 str=+0.00 safe=0 progress=9.2% goal=351.67m dL=0.14 ttc=999.00s tl=None credit=454 reason=
[STEP] step=0860 speed= 16.81km/h thr=0.12 brk=0.00 str=+0.05 safe=0 progress=10.4% goal=347.24m dL=0.16 ttc=999.00s tl=None credit=434 reason=
[STEP] step=0880 speed= 16.21km/h thr=0.06 brk=0.00 str=+0.15 safe=0 progress=11.5% goal=342.80m dL=0.14 ttc=999.00s tl=None credit=414 reason=
[STEP] step=0900 speed= 16.67km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=12.7% goal=338.41m dL=0.15 ttc=999.00s tl=None credit=394 reason=
[STEP] step=0920 speed= 15.91km/h thr=0.00 brk=0.12 str=+0.07 safe=0 progress=13.8% goal=333.96m dL=0.15 ttc=999.00s tl=None credit=374 reason=
[STEP] step=0940 speed=  8.17km/h thr=0.00 brk=0.21 str=-0.03 safe=0 progress=14.7% goal=330.65m dL=0.01 ttc=999.00s tl=None credit=354 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.03 safe=0 progress=14.8% goal=330.14m dL=0.02 ttc=999.00s tl=None credit=334 reason=
[STEP] step=0980 speed= 12.14km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=15.1% goal=328.98m dL=0.00 ttc=999.00s tl=None credit=314 reason=
[STEP] step=1000 speed= 15.51km/h thr=0.06 brk=0.00 str=+0.10 safe=0 progress=16.3% goal=324.44m dL=0.01 ttc=999.00s tl=None credit=294 reason=
[STEP] step=1020 speed= 15.17km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=17.4% goal=320.07m dL=0.05 ttc=999.00s tl=None credit=274 reason=
[STEP] step=1040 speed=  5.37km/h thr=0.00 brk=0.43 str=-0.08 safe=0 progress=18.2% goal=317.05m dL=0.03 ttc=999.00s tl=None credit=254 reason=
[STEP] step=1060 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=18.2% goal=317.01m dL=0.03 ttc=999.00s tl=None credit=234 reason=
[STEP] step=1080 speed= 16.10km/h thr=0.44 brk=0.00 str=-0.00 safe=1 progress=18.7% goal=314.85m dL=0.01 ttc=999.00s tl=None credit=214 reason=
[STEP] step=1100 speed= 13.00km/h thr=0.00 brk=0.17 str=-0.02 safe=0 progress=19.9% goal=310.34m dL=0.01 ttc=999.00s tl=None credit=194 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.19 safe=0 progress=20.4% goal=308.25m dL=0.00 ttc=999.00s tl=None credit=174 reason=
[STEP] step=1140 speed=  2.45km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=20.5% goal=308.19m dL=0.00 ttc=999.00s tl=None credit=154 reason=
[STEP] step=1160 speed= 17.51km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=21.2% goal=305.13m dL=0.00 ttc=999.00s tl=None credit=134 reason=
[STEP] step=1180 speed= 11.65km/h thr=0.00 brk=0.20 str=+0.05 safe=0 progress=22.4% goal=300.84m dL=0.02 ttc=999.00s tl=None credit=114 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.16 safe=0 progress=22.8% goal=299.28m dL=0.00 ttc=999.00s tl=None credit=94 reason=
[STEP] step=1220 speed=  4.94km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=22.8% goal=299.07m dL=0.00 ttc=999.00s tl=None credit=74 reason=
[STEP] step=1240 speed= 17.86km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=23.7% goal=295.44m dL=0.02 ttc=999.00s tl=None credit=54 reason=
[STEP] step=1260 speed= 10.39km/h thr=0.00 brk=0.27 str=-0.06 safe=0 progress=24.8% goal=291.45m dL=0.03 ttc=999.00s tl=None credit=34 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.14 safe=0 progress=25.0% goal=290.40m dL=0.02 ttc=999.00s tl=None credit=14 reason=
[STEP] step=1300 speed=  8.40km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=25.2% goal=289.81m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 16.90km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=26.3% goal=285.59m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed=  8.88km/h thr=0.00 brk=0.39 str=-0.05 safe=0 progress=27.2% goal=282.01m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.23 safe=0 progress=27.4% goal=281.42m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 11.21km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=27.6% goal=280.41m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 16.24km/h thr=0.06 brk=0.00 str=-0.04 safe=0 progress=28.8% goal=275.88m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 16.14km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=29.9% goal=271.47m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 15.49km/h thr=0.12 brk=0.00 str=+0.07 safe=0 progress=31.1% goal=267.05m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed= 15.96km/h thr=0.23 brk=0.00 str=+0.04 safe=0 progress=32.2% goal=262.62m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed= 15.95km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=33.4% goal=258.15m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 16.49km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=34.5% goal=253.67m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 16.51km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=35.7% goal=249.12m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed= 16.80km/h thr=0.28 brk=0.00 str=+0.03 safe=0 progress=36.9% goal=244.51m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed= 17.85km/h thr=0.29 brk=0.00 str=+0.04 safe=0 progress=38.1% goal=239.70m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 18.04km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=39.4% goal=234.71m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed= 18.09km/h thr=0.37 brk=0.00 str=+0.03 safe=0 progress=40.7% goal=229.68m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed= 18.09km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=42.0% goal=224.54m dL=0.09 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=999.00s tl=Red credit=11 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=999.00s tl=Red credit=31 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=999.00s tl=Red credit=51 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=999.00s tl=Red credit=71 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=393.35s tl=Red credit=91 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=192.33s tl=Red credit=111 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=100.41s tl=Red credit=131 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=66.38s tl=Red credit=151 reason=
[STEP] step=1800 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=51.79s tl=Red credit=171 reason=
[STEP] step=1820 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=47.90s tl=Red credit=191 reason=
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=46.60s tl=Red credit=211 reason=
[STEP] step=1860 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=47.81s tl=Red credit=231 reason=
[STEP] step=1880 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=52.71s tl=Red credit=251 reason=
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=43.67s tl=Red credit=271 reason=
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=41.17s tl=Red credit=291 reason=
[STEP] step=1940 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.21 safe=0 progress=42.5% goal=222.88m dL=0.05 ttc=39.40s tl=Green credit=285 reason=
[STEP] step=1960 speed= 10.26km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=42.7% goal=222.03m dL=0.03 ttc=71.96s tl=Green credit=265 reason=
[STEP] step=1980 speed= 18.05km/h thr=0.40 brk=0.00 str=+0.03 safe=0 progress=43.9% goal=217.54m dL=0.08 ttc=215.45s tl=None credit=245 reason=
[STEP] step=2000 speed= 14.44km/h thr=0.00 brk=0.40 str=+0.12 safe=0 progress=45.2% goal=212.46m dL=0.18 ttc=69.15s tl=None credit=225 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.33 safe=0 progress=45.3% goal=211.87m dL=0.27 ttc=34.34s tl=None credit=205 reason=
[STEP] step=2040 speed= 10.60km/h thr=0.36 brk=0.00 str=-0.17 safe=0 progress=45.6% goal=210.76m dL=0.32 ttc=60.09s tl=None credit=185 reason=
[STEP] step=2060 speed=  7.01km/h thr=0.00 brk=0.14 str=-0.20 safe=0 progress=46.3% goal=208.07m dL=0.35 ttc=48.09s tl=None credit=165 reason=
[STEP] step=2080 speed=  5.10km/h thr=0.43 brk=0.00 str=-0.30 safe=0 progress=46.5% goal=207.46m dL=0.28 ttc=43.67s tl=None credit=145 reason=
[STEP] step=2100 speed=  2.81km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=47.0% goal=205.43m dL=0.18 ttc=37.79s tl=None credit=125 reason=
[STEP] step=2120 speed=  9.00km/h thr=0.00 brk=0.08 str=-0.11 safe=0 progress=47.4% goal=203.80m dL=0.13 ttc=64.84s tl=None credit=105 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=34.15s tl=None credit=85 reason=
[STEP] step=2160 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=35.86s tl=None credit=65 reason=
[STEP] step=2180 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=38.29s tl=None credit=45 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=41.73s tl=None credit=25 reason=
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=46.66s tl=None credit=5 reason=
[STEP] step=2240 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=50.06s tl=None credit=0 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=44.19s tl=None credit=0 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=32.37s tl=None credit=0 reason=
[STEP] step=2300 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=25.17s tl=None credit=0 reason=
[STEP] step=2320 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=20.69s tl=None credit=0 reason=
[STEP] step=2340 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=17.26s tl=None credit=0 reason=
[STEP] step=2360 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=14.97s tl=None credit=0 reason=
[STEP] step=2380 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=13.13s tl=None credit=0 reason=
[STEP] step=2383 speed=  0.00km/h thr=0.00 brk=0.12 str=-0.14 safe=0 progress=47.8% goal=202.42m dL=0.08 ttc=12.92s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=10 R=412.27 steps=2383 success=0 progress=47.8% DS=0.00 intv=0.110 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 246 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 23 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=129.96m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=23 goal_idx=None route_len=371.0m spawn=(55.5,130.7,-0.0) yaw=-179.7 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=370.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=370.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=369.35m dL=0.00 ttc=114.73s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.70km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=1.6% goal=364.90m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.17 safe=0 progress=2.2% goal=362.99m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.06km/h thr=0.75 brk=0.00 str=-0.09 safe=1 progress=2.2% goal=362.89m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.70km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=3.1% goal=359.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.68km/h thr=0.00 brk=0.29 str=-0.01 safe=0 progress=4.2% goal=355.52m dL=0.05 ttc=58.26s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.17 safe=0 progress=4.5% goal=354.35m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.53km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=4.6% goal=353.87m dL=0.03 ttc=78.03s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.42km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=5.7% goal=349.75m dL=0.04 ttc=32.15s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.72km/h thr=0.00 brk=0.34 str=-0.01 safe=0 progress=6.7% goal=346.15m dL=0.04 ttc=67.12s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.12 safe=0 progress=6.8% goal=345.61m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.15km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=7.2% goal=344.44m dL=0.02 ttc=48.06s tl=None credit=0 reason=
[STEP] step=0280 speed=  9.73km/h thr=0.00 brk=0.31 str=-0.04 safe=0 progress=8.3% goal=340.15m dL=0.02 ttc=60.68s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.16 safe=0 progress=8.4% goal=339.82m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 13.97km/h thr=0.73 brk=0.00 str=-0.01 safe=1 progress=8.8% goal=338.30m dL=0.01 ttc=42.27s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.99km/h thr=0.00 brk=0.26 str=-0.02 safe=0 progress=10.0% goal=333.76m dL=0.03 ttc=42.66s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.16 safe=0 progress=10.7% goal=331.30m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  1.57km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=10.7% goal=331.27m dL=0.03 ttc=388.60s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.12km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=11.5% goal=328.44m dL=0.03 ttc=34.93s tl=None credit=0 reason=
[STEP] step=0420 speed= 11.41km/h thr=0.00 brk=0.28 str=-0.00 safe=0 progress=12.6% goal=324.17m dL=0.05 ttc=53.52s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.11 safe=0 progress=13.0% goal=322.70m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  5.75km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=13.1% goal=322.41m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.85km/h thr=0.12 brk=0.00 str=+0.05 safe=0 progress=14.1% goal=318.59m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  9.67km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=15.2% goal=314.75m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.12 safe=0 progress=15.4% goal=313.90m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  9.37km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=15.6% goal=313.18m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.38km/h thr=0.00 brk=0.24 str=-0.07 safe=0 progress=16.7% goal=308.85m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  7.97km/h thr=0.00 brk=0.41 str=-0.02 safe=0 progress=17.6% goal=305.50m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.18 safe=0 progress=17.7% goal=305.13m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.11km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=18.1% goal=303.79m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.67km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=19.3% goal=299.22m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  2.13km/h thr=0.00 brk=0.48 str=+0.04 safe=0 progress=20.1% goal=296.34m dL=0.01 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=20.1% goal=296.33m dL=0.01 ttc=999.00s tl=Red credit=20 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=20.1% goal=296.33m dL=0.01 ttc=999.00s tl=Red credit=40 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=20.1% goal=296.33m dL=0.01 ttc=999.00s tl=Red credit=60 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.06 safe=0 progress=20.1% goal=296.33m dL=0.01 ttc=999.00s tl=Green credit=58 reason=
[STEP] step=0760 speed=  8.53km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=20.3% goal=295.74m dL=0.01 ttc=468.31s tl=Green credit=38 reason=
[STEP] step=0780 speed= 16.85km/h thr=0.00 brk=0.23 str=-0.03 safe=0 progress=21.4% goal=291.51m dL=0.03 ttc=294.91s tl=Green credit=18 reason=
[STEP] step=0800 speed=  8.52km/h thr=0.00 brk=0.36 str=-0.04 safe=0 progress=22.4% goal=288.01m dL=0.02 ttc=879.53s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.10 safe=0 progress=22.5% goal=287.53m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 12.14km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=22.8% goal=286.36m dL=0.01 ttc=492.25s tl=None credit=0 reason=
[STEP] step=0860 speed= 15.17km/h thr=0.00 brk=0.16 str=+0.01 safe=0 progress=24.0% goal=281.82m dL=0.02 ttc=562.18s tl=None credit=0 reason=
[STEP] step=0880 speed=  7.13km/h thr=0.00 brk=0.37 str=-0.06 safe=0 progress=24.9% goal=278.74m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.19 safe=0 progress=24.9% goal=278.60m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 14.82km/h thr=0.64 brk=0.00 str=+0.00 safe=1 progress=25.4% goal=276.86m dL=0.01 ttc=917.81s tl=None credit=0 reason=
[STEP] step=0940 speed= 14.30km/h thr=0.00 brk=0.08 str=+0.00 safe=0 progress=26.6% goal=272.25m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  4.19km/h thr=0.00 brk=0.40 str=-0.07 safe=0 progress=27.4% goal=269.38m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.30km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=27.4% goal=269.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.12km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=28.0% goal=267.19m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 13.59km/h thr=0.00 brk=0.14 str=+0.05 safe=0 progress=29.2% goal=262.61m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.12 safe=0 progress=29.9% goal=260.06m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed=  0.22km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=29.9% goal=260.05m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 15.17km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=30.5% goal=257.72m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 12.31km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=31.6% goal=253.56m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 13.66km/h thr=0.16 brk=0.00 str=+0.09 safe=0 progress=32.6% goal=249.90m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 13.27km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=33.6% goal=246.18m dL=0.03 ttc=701.76s tl=None credit=0 reason=
[STEP] step=1160 speed= 13.19km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=34.6% goal=242.51m dL=0.03 ttc=329.52s tl=None credit=0 reason=
[STEP] step=1180 speed= 13.18km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=35.6% goal=238.86m dL=0.03 ttc=212.78s tl=None credit=0 reason=
[STEP] step=1200 speed= 13.18km/h thr=0.20 brk=0.00 str=+0.01 safe=0 progress=36.6% goal=235.21m dL=0.04 ttc=175.19s tl=None credit=0 reason=
[STEP] step=1220 speed= 13.17km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=37.6% goal=231.55m dL=0.04 ttc=129.88s tl=None credit=0 reason=
[STEP] step=1240 speed= 13.42km/h thr=0.38 brk=0.00 str=+0.04 safe=0 progress=38.6% goal=227.90m dL=0.04 ttc=107.24s tl=None credit=0 reason=
[STEP] step=1260 speed= 14.90km/h thr=0.30 brk=0.00 str=+0.09 safe=0 progress=39.6% goal=223.95m dL=0.05 ttc=77.60s tl=None credit=0 reason=
[STEP] step=1280 speed= 14.35km/h thr=0.21 brk=0.00 str=+0.07 safe=0 progress=40.7% goal=219.87m dL=0.02 ttc=68.05s tl=None credit=0 reason=
[STEP] step=1300 speed= 14.43km/h thr=0.20 brk=0.00 str=+0.03 safe=0 progress=41.8% goal=215.87m dL=0.03 ttc=62.85s tl=None credit=0 reason=
[STEP] step=1320 speed= 14.36km/h thr=0.21 brk=0.00 str=+0.05 safe=0 progress=42.9% goal=211.88m dL=0.02 ttc=58.58s tl=None credit=0 reason=
[STEP] step=1340 speed= 14.38km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=44.0% goal=207.87m dL=0.01 ttc=63.46s tl=None credit=0 reason=
[STEP] step=1360 speed= 14.37km/h thr=0.21 brk=0.00 str=+0.05 safe=0 progress=45.0% goal=203.88m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 14.40km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=46.1% goal=199.88m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 14.36km/h thr=0.27 brk=0.00 str=+0.07 safe=0 progress=47.2% goal=195.89m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 14.38km/h thr=0.21 brk=0.00 str=+0.05 safe=0 progress=48.3% goal=191.90m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 14.98km/h thr=0.29 brk=0.00 str=+0.05 safe=0 progress=49.4% goal=187.83m dL=0.02 ttc=32.42s tl=None credit=0 reason=
[STEP] step=1460 speed= 16.54km/h thr=0.24 brk=0.00 str=+0.07 safe=0 progress=50.5% goal=183.45m dL=0.01 ttc=22.84s tl=None credit=0 reason=
[STEP] step=1480 speed= 16.47km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=51.7% goal=179.08m dL=0.09 ttc=18.98s tl=None credit=0 reason=
[STEP] step=1500 speed= 20.99km/h thr=0.62 brk=0.00 str=-0.06 safe=0 progress=53.1% goal=173.99m dL=0.23 ttc=13.02s tl=None credit=0 reason=
[STEP] step=1520 speed= 23.97km/h thr=0.35 brk=0.00 str=+0.06 safe=0 progress=54.8% goal=167.55m dL=0.24 ttc=9.67s tl=None credit=0 reason=
[STEP] step=1540 speed= 23.60km/h thr=0.35 brk=0.00 str=-0.02 safe=0 progress=56.6% goal=160.98m dL=0.07 ttc=8.06s tl=None credit=0 reason=
[STEP] step=1560 speed= 23.51km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=58.4% goal=154.47m dL=0.03 ttc=6.68s tl=Yellow credit=0 reason=
[STEP] step=1580 speed= 21.77km/h thr=0.16 brk=0.00 str=-0.02 safe=0 progress=60.0% goal=148.29m dL=0.10 ttc=5.65s tl=None credit=0 reason=
[STEP] step=1600 speed= 12.55km/h thr=0.00 brk=0.05 str=+0.12 safe=0 progress=61.3% goal=143.55m dL=0.33 ttc=6.03s tl=None credit=0 reason=
[STEP] step=1620 speed=  7.97km/h thr=0.29 brk=0.00 str=+0.25 safe=0 progress=62.0% goal=140.88m dL=0.22 ttc=6.57s tl=None credit=0 reason=
[STEP] step=1640 speed=  6.20km/h thr=0.00 brk=0.14 str=+0.27 safe=0 progress=62.6% goal=138.56m dL=0.07 ttc=6.95s tl=None credit=0 reason=
[STEP] step=1660 speed=  9.05km/h thr=0.42 brk=0.00 str=+0.12 safe=0 progress=63.0% goal=137.20m dL=0.04 ttc=23.69s tl=None credit=0 reason=
[STEP] step=1680 speed=  8.01km/h thr=0.13 brk=0.00 str=+0.10 safe=0 progress=63.7% goal=134.67m dL=0.09 ttc=29.92s tl=None credit=0 reason=
[STEP] step=1700 speed=  7.97km/h thr=0.18 brk=0.00 str=+0.13 safe=0 progress=64.3% goal=132.49m dL=0.10 ttc=39.46s tl=None credit=0 reason=
[STEP] step=1720 speed=  8.03km/h thr=0.16 brk=0.00 str=+0.26 safe=0 progress=64.9% goal=130.31m dL=0.14 ttc=77.50s tl=None credit=0 reason=
[STEP] step=1740 speed=  8.08km/h thr=0.16 brk=0.00 str=+0.30 safe=0 progress=65.5% goal=128.12m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed=  8.17km/h thr=0.16 brk=0.00 str=+0.28 safe=0 progress=66.1% goal=125.92m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed= 12.37km/h thr=0.42 brk=0.00 str=+0.08 safe=0 progress=66.8% goal=123.19m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed= 17.61km/h thr=0.36 brk=0.00 str=+0.03 safe=0 progress=67.9% goal=118.91m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1820 speed= 18.22km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=69.3% goal=113.89m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed= 18.11km/h thr=0.29 brk=0.00 str=-0.06 safe=0 progress=70.6% goal=108.88m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed= 18.08km/h thr=0.26 brk=0.00 str=+0.04 safe=0 progress=72.0% goal=103.86m dL=0.22 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1880 speed= 18.12km/h thr=0.44 brk=0.00 str=-0.10 safe=0 progress=73.3% goal=98.89m dL=0.23 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1900 speed= 18.67km/h thr=0.52 brk=0.00 str=-0.06 safe=0 progress=74.7% goal=93.82m dL=0.41 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed= 19.28km/h thr=0.09 brk=0.00 str=+0.02 safe=0 progress=76.2% goal=88.27m dL=0.54 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed= 15.16km/h thr=0.48 brk=0.00 str=-0.03 safe=0 progress=77.4% goal=83.67m dL=0.45 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed= 19.57km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=78.8% goal=78.73m dL=0.37 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed= 20.91km/h thr=0.52 brk=0.00 str=-0.05 safe=0 progress=80.2% goal=73.28m dL=0.46 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed= 22.90km/h thr=0.09 brk=0.00 str=+0.10 safe=0 progress=81.9% goal=67.14m dL=0.59 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed= 10.12km/h thr=0.60 brk=0.00 str=-0.08 safe=0 progress=82.9% goal=63.30m dL=0.44 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed= 18.20km/h thr=0.35 brk=0.00 str=+0.05 safe=0 progress=84.1% goal=58.87m dL=0.81 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed= 18.17km/h thr=0.29 brk=0.00 str=+0.05 safe=0 progress=85.5% goal=53.82m dL=0.96 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed= 18.11km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=86.9% goal=48.77m dL=1.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed= 18.04km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=88.2% goal=43.76m dL=1.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed= 18.06km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=89.6% goal=38.75m dL=1.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed= 18.17km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=90.9% goal=33.74m dL=1.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed= 18.17km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=92.3% goal=28.72m dL=1.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2180 speed= 18.18km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=93.6% goal=23.69m dL=1.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2200 speed= 18.14km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=95.0% goal=18.65m dL=1.29 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2201 speed= 18.14km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=95.0% goal=18.40m dL=1.30 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=11 R=-34.62 steps=2201 success=1 progress=95.0% DS=95.04 intv=0.159 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 249 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 124 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=7.16% dL=56.60m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=124 goal_idx=None route_len=376.4m spawn=(-27.0,69.7,-0.0) yaw=0.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=376.43m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=376.43m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=374.82m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.83km/h thr=0.00 brk=0.27 str=-0.02 safe=0 progress=1.6% goal=370.34m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.21 safe=0 progress=2.1% goal=368.40m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.16km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=2.2% goal=368.30m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.88km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=3.0% goal=365.03m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.82km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=4.1% goal=360.88m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.14 safe=0 progress=4.5% goal=359.67m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.50km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=4.6% goal=359.19m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.50km/h thr=0.00 brk=0.16 str=+0.04 safe=0 progress=5.7% goal=355.06m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.84km/h thr=0.00 brk=0.36 str=-0.01 safe=0 progress=6.6% goal=351.43m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.09 safe=0 progress=6.8% goal=350.87m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.19km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=7.1% goal=349.69m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.24km/h thr=0.00 brk=0.24 str=-0.02 safe=0 progress=8.3% goal=345.14m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  6.89km/h thr=0.00 brk=0.36 str=+0.01 safe=0 progress=9.1% goal=342.10m dL=0.03 ttc=389.31s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=9.1% goal=342.00m dL=0.03 ttc=145.59s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.54km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=9.7% goal=340.04m dL=0.02 ttc=27.06s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.30km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=10.9% goal=335.50m dL=0.04 ttc=20.55s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.14 safe=0 progress=11.5% goal=333.31m dL=0.02 ttc=24.49s tl=None credit=0 reason=
[STEP] step=0400 speed=  2.45km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=11.5% goal=333.24m dL=0.02 ttc=23.08s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.96km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=12.3% goal=330.23m dL=0.01 ttc=15.70s tl=None credit=0 reason=
[STEP] step=0440 speed= 10.69km/h thr=0.00 brk=0.31 str=+0.02 safe=0 progress=13.4% goal=326.15m dL=0.04 ttc=20.74s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.10 safe=0 progress=13.7% goal=325.05m dL=0.05 ttc=34.46s tl=None credit=0 reason=
[STEP] step=0480 speed=  8.46km/h thr=0.60 brk=0.00 str=+0.18 safe=1 progress=13.8% goal=324.45m dL=0.04 ttc=18.39s tl=None credit=0 reason=
[STEP] step=0500 speed= 12.32km/h thr=0.00 brk=0.22 str=-0.08 safe=0 progress=14.7% goal=321.06m dL=0.18 ttc=12.24s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.94m dL=0.24 ttc=12.59s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=12.24s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=13.70s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=14.25s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=15.67s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=18.81s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.21 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=26.27s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.10 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=53.33s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.17 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.16 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0767 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.09 safe=0 progress=15.3% goal=318.93m dL=0.24 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=12 R=169.66 steps=767 success=0 progress=15.3% DS=0.00 intv=0.226 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 252 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 82 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=63.75% dL=0.00m
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=82 goal_idx=None route_len=374.5m spawn=(-27.8,-61.3,-0.0) yaw=0.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.05 str=+0.08 safe=0 progress=7.5% goal=346.53m dL=74.39 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  3.89km/h thr=0.46 brk=0.00 str=+0.53 safe=0 progress=7.5% goal=346.57m dL=74.38 ttc=651.77s tl=None credit=0 reason=
[STEP] step=0022 speed=  6.38km/h thr=0.34 brk=0.00 str=+0.53 safe=0 progress=7.4% goal=346.72m dL=74.34 ttc=345.22s tl=None credit=0 reason=off_route
[Town10HD_Opt_zeroshot_source_agent] ep=13 R=-1.51 steps=22 success=0 progress=7.4% DS=0.00 intv=0.000 reason=off_route
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 255 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 23 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=129.96m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=23 goal_idx=None route_len=371.0m spawn=(55.5,130.7,-0.0) yaw=-179.7 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=370.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=370.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=369.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.59km/h thr=0.00 brk=0.29 str=-0.00 safe=0 progress=1.6% goal=364.92m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.10 safe=0 progress=2.1% goal=363.25m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.83km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=2.1% goal=363.04m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.85km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=3.1% goal=359.40m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.52km/h thr=0.00 brk=0.48 str=-0.05 safe=0 progress=4.2% goal=355.50m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.18 safe=0 progress=4.4% goal=354.81m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 11.19km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=4.6% goal=353.81m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.58km/h thr=0.00 brk=0.25 str=-0.01 safe=0 progress=5.8% goal=349.31m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.73km/h thr=0.00 brk=0.57 str=+0.01 safe=0 progress=6.6% goal=346.32m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.41km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=6.6% goal=346.32m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.50km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=7.3% goal=343.94m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 12.30km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=8.5% goal=339.51m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.67 str=-0.16 safe=0 progress=8.9% goal=337.93m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  5.80km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=9.0% goal=337.64m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.80km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=10.0% goal=333.83m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  9.06km/h thr=0.00 brk=0.47 str=-0.05 safe=0 progress=11.0% goal=330.06m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.20 safe=0 progress=11.2% goal=329.49m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 12.22km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=11.5% goal=328.32m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.01km/h thr=0.00 brk=0.20 str=+0.02 safe=0 progress=12.7% goal=323.80m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.67 str=-0.16 safe=0 progress=13.4% goal=321.13m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.94km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=13.4% goal=321.12m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.90km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=14.1% goal=318.50m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 12.09km/h thr=0.00 brk=0.29 str=+0.04 safe=0 progress=15.3% goal=314.10m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.19 safe=0 progress=15.7% goal=312.64m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  6.75km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=15.8% goal=312.27m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 17.61km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=16.9% goal=308.30m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  8.92km/h thr=0.00 brk=0.46 str=-0.07 safe=0 progress=17.9% goal=304.59m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.11 safe=0 progress=18.0% goal=304.08m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 12.16km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=18.3% goal=302.92m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.22km/h thr=0.00 brk=0.19 str=-0.02 safe=0 progress=19.6% goal=298.38m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.09 safe=0 progress=20.3% goal=295.70m dL=0.06 ttc=999.00s tl=Red credit=3 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.03 safe=0 progress=20.3% goal=295.70m dL=0.06 ttc=999.00s tl=Red credit=23 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.04 safe=0 progress=20.3% goal=295.70m dL=0.06 ttc=999.00s tl=Green credit=23 reason=
[STEP] step=0720 speed=  7.62km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=20.4% goal=295.22m dL=0.05 ttc=999.00s tl=Green credit=3 reason=
[STEP] step=0740 speed= 17.27km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=21.5% goal=291.11m dL=0.04 ttc=999.00s tl=Green credit=0 reason=
[STEP] step=0760 speed=  8.55km/h thr=0.00 brk=0.43 str=-0.02 safe=0 progress=22.5% goal=287.48m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.20 safe=0 progress=22.6% goal=287.04m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.10km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=23.0% goal=285.69m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.20km/h thr=0.00 brk=0.16 str=+0.06 safe=0 progress=24.2% goal=281.09m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.10 safe=0 progress=25.0% goal=278.22m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.29km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=25.0% goal=278.21m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.53km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=25.6% goal=275.82m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 15.72km/h thr=0.00 brk=0.16 str=+0.05 safe=0 progress=26.9% goal=271.07m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed=  5.17km/h thr=0.00 brk=0.58 str=-0.06 safe=0 progress=27.8% goal=267.91m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.30km/h thr=0.75 brk=0.00 str=-0.09 safe=1 progress=27.8% goal=267.88m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.01km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=28.4% goal=265.72m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.45km/h thr=0.17 brk=0.00 str=-0.03 safe=0 progress=29.7% goal=260.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 11.32km/h thr=0.00 brk=0.39 str=-0.02 safe=0 progress=30.8% goal=256.84m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.63 str=-0.12 safe=0 progress=31.1% goal=255.69m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed=  8.55km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=31.2% goal=255.10m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 15.79km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=32.3% goal=251.14m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 13.38km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=33.3% goal=247.46m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 13.25km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=34.3% goal=243.67m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 13.18km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=35.3% goal=240.02m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 13.15km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=36.3% goal=236.36m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 13.16km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=37.3% goal=232.71m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 13.18km/h thr=0.21 brk=0.00 str=+0.09 safe=0 progress=38.3% goal=229.06m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed= 14.11km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=39.3% goal=225.22m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed= 14.49km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=40.4% goal=221.16m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed= 14.45km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=41.5% goal=217.16m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed= 14.39km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=42.5% goal=213.16m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed= 14.37km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=43.6% goal=209.16m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 14.35km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=44.7% goal=205.16m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 14.38km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=45.8% goal=201.17m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed= 14.39km/h thr=0.21 brk=0.00 str=+0.05 safe=0 progress=46.8% goal=197.17m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 14.38km/h thr=0.21 brk=0.00 str=+0.03 safe=0 progress=47.9% goal=193.18m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 14.41km/h thr=0.39 brk=0.00 str=+0.06 safe=0 progress=49.0% goal=189.18m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 16.21km/h thr=0.36 brk=0.00 str=+0.03 safe=0 progress=50.1% goal=184.94m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 14.35km/h thr=0.36 brk=0.00 str=+0.08 safe=0 progress=51.3% goal=180.57m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 20.14km/h thr=0.62 brk=0.00 str=-0.05 safe=0 progress=52.6% goal=175.79m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed= 27.34km/h thr=0.00 brk=0.08 str=+0.14 safe=0 progress=54.5% goal=168.86m dL=0.47 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed= 21.15km/h thr=0.41 brk=0.00 str=-0.05 safe=0 progress=56.2% goal=162.46m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 23.41km/h thr=0.39 brk=0.00 str=-0.00 safe=0 progress=57.9% goal=156.26m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 21.29km/h thr=0.36 brk=0.00 str=-0.05 safe=0 progress=59.6% goal=149.86m dL=0.12 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.25 str=+0.11 safe=0 progress=60.7% goal=145.79m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed=  2.32km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=60.7% goal=145.73m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 11.58km/h thr=0.00 brk=0.10 str=+0.08 safe=0 progress=61.4% goal=143.21m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed=  6.45km/h thr=0.12 brk=0.00 str=+0.23 safe=0 progress=62.0% goal=140.79m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  7.54km/h thr=0.24 brk=0.00 str=+0.23 safe=0 progress=62.6% goal=138.71m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed=  8.04km/h thr=0.13 brk=0.00 str=+0.03 safe=0 progress=63.2% goal=136.55m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed=  7.76km/h thr=0.15 brk=0.00 str=+0.15 safe=0 progress=63.8% goal=134.38m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed=  7.74km/h thr=0.15 brk=0.00 str=+0.22 safe=0 progress=64.4% goal=132.24m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1700 speed=  7.73km/h thr=0.15 brk=0.00 str=+0.28 safe=0 progress=64.9% goal=130.10m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed=  7.76km/h thr=0.15 brk=0.00 str=+0.21 safe=0 progress=65.5% goal=127.96m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed=  7.75km/h thr=0.15 brk=0.00 str=+0.31 safe=0 progress=66.1% goal=125.82m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed= 16.76km/h thr=0.61 brk=0.00 str=+0.18 safe=0 progress=66.9% goal=122.80m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed= 19.60km/h thr=0.43 brk=0.00 str=+0.05 safe=0 progress=68.3% goal=117.66m dL=0.34 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed= 20.11km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=69.8% goal=112.01m dL=0.56 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1820 speed= 17.28km/h thr=0.25 brk=0.00 str=-0.08 safe=0 progress=71.2% goal=106.93m dL=0.41 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed= 17.52km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=72.5% goal=102.01m dL=0.52 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1860 speed= 18.18km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=73.8% goal=97.10m dL=0.68 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed= 18.06km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=75.2% goal=92.06m dL=0.78 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1900 speed= 17.85km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=76.5% goal=87.03m dL=0.83 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed= 18.45km/h thr=0.33 brk=0.00 str=+0.01 safe=0 progress=77.9% goal=82.00m dL=0.91 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed= 18.98km/h thr=0.33 brk=0.00 str=+0.08 safe=0 progress=79.3% goal=76.85m dL=0.77 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed= 16.28km/h thr=0.23 brk=0.00 str=+0.02 safe=0 progress=80.6% goal=71.95m dL=0.75 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed= 13.71km/h thr=0.00 brk=0.24 str=-0.04 safe=0 progress=81.9% goal=67.24m dL=0.47 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.10 safe=0 progress=82.1% goal=66.58m dL=0.41 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed= 12.13km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=82.4% goal=65.42m dL=0.30 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed= 18.18km/h thr=0.54 brk=0.00 str=-0.08 safe=0 progress=83.6% goal=60.80m dL=0.43 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed= 19.73km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=85.0% goal=55.63m dL=1.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed= 20.83km/h thr=0.34 brk=0.00 str=+0.03 safe=0 progress=86.5% goal=49.95m dL=1.32 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed= 19.72km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=88.1% goal=44.28m dL=1.29 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed= 18.08km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=89.5% goal=39.05m dL=1.27 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed= 18.27km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=90.8% goal=33.97m dL=1.32 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed= 18.42km/h thr=0.33 brk=0.00 str=+0.00 safe=0 progress=92.2% goal=28.90m dL=1.39 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2180 speed= 18.62km/h thr=0.27 brk=0.00 str=+0.06 safe=0 progress=93.6% goal=23.83m dL=1.40 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2200 speed= 18.02km/h thr=0.31 brk=0.00 str=-0.03 safe=0 progress=94.9% goal=18.76m dL=1.40 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2201 speed= 18.26km/h thr=0.32 brk=0.00 str=-0.02 safe=0 progress=95.0% goal=18.51m dL=1.40 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=14 R=37.57 steps=2201 success=1 progress=95.0% DS=95.01 intv=0.182 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 257 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 88 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=129.61m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=88 goal_idx=None route_len=398.5m spawn=(21.6,141.0,-0.0) yaw=0.3 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=398.45m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=398.45m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=396.84m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.66km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=1.5% goal=392.39m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.16 safe=0 progress=2.0% goal=390.62m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.88km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=2.0% goal=390.40m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.87km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=2.9% goal=386.77m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.66km/h thr=0.00 brk=0.34 str=+0.01 safe=0 progress=3.9% goal=382.87m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.09 safe=0 progress=4.1% goal=382.12m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 10.31km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=4.3% goal=381.26m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.93km/h thr=0.00 brk=0.24 str=-0.00 safe=0 progress=5.4% goal=376.84m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  6.70km/h thr=0.00 brk=0.47 str=-0.01 safe=0 progress=6.2% goal=373.68m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=6.2% goal=373.61m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 15.55km/h thr=0.53 brk=0.00 str=+0.01 safe=1 progress=6.7% goal=371.66m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.24km/h thr=0.00 brk=0.26 str=-0.01 safe=0 progress=7.9% goal=367.12m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.13 safe=0 progress=8.4% goal=365.10m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  3.20km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=8.4% goal=365.00m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.60km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=9.2% goal=361.85m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  9.51km/h thr=0.00 brk=0.34 str=-0.02 safe=0 progress=10.1% goal=358.04m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.10 safe=0 progress=10.3% goal=357.24m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 10.35km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=10.6% goal=356.39m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 14.70km/h thr=0.00 brk=0.27 str=+0.04 safe=0 progress=11.6% goal=352.28m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.13 safe=0 progress=12.3% goal=349.55m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.39km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=12.3% goal=349.55m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 15.06km/h thr=0.42 brk=0.00 str=-0.06 safe=1 progress=12.9% goal=347.23m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 10.88km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=13.9% goal=343.20m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=14.2% goal=341.95m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  6.62km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=14.3% goal=341.58m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.34km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=15.2% goal=337.84m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  7.68km/h thr=0.00 brk=0.37 str=-0.13 safe=0 progress=16.0% goal=334.53m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.14 safe=0 progress=16.1% goal=334.28m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.56km/h thr=0.44 brk=0.00 str=-0.16 safe=1 progress=16.5% goal=332.76m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.61km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=17.5% goal=328.59m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.17 safe=0 progress=18.0% goal=326.74m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  4.11km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=18.0% goal=326.59m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.63km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=18.9% goal=323.29m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  9.07km/h thr=0.00 brk=0.36 str=-0.11 safe=0 progress=19.8% goal=319.60m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.19 safe=0 progress=20.0% goal=318.95m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 11.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=20.2% goal=317.95m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.52km/h thr=0.00 brk=0.30 str=-0.03 safe=0 progress=21.3% goal=313.70m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.19 safe=0 progress=21.9% goal=311.06m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.85km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=21.9% goal=311.04m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 15.81km/h thr=0.42 brk=0.00 str=-0.05 safe=1 progress=22.6% goal=308.49m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 10.85km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=23.6% goal=304.42m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=23.9% goal=303.23m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed=  7.55km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=24.0% goal=302.75m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 16.20km/h thr=0.00 brk=0.16 str=+0.11 safe=0 progress=25.0% goal=298.84m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed=  7.37km/h thr=0.00 brk=0.40 str=-0.14 safe=0 progress=25.8% goal=295.60m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.21 safe=0 progress=25.9% goal=295.43m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 14.46km/h thr=0.50 brk=0.00 str=-0.04 safe=1 progress=26.3% goal=293.71m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 15.88km/h thr=0.27 brk=0.00 str=-0.09 safe=0 progress=27.4% goal=289.19m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.21km/h thr=0.33 brk=0.00 str=-0.13 safe=0 progress=28.5% goal=284.70m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed=  9.75km/h thr=0.00 brk=0.33 str=-0.08 safe=0 progress=29.5% goal=280.86m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.16 safe=0 progress=29.7% goal=280.09m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 10.27km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=29.9% goal=279.23m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 17.27km/h thr=0.16 brk=0.00 str=-0.01 safe=0 progress=31.0% goal=274.78m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 16.37km/h thr=0.19 brk=0.00 str=-0.05 safe=0 progress=32.2% goal=270.14m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.39km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=33.3% goal=265.63m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.02km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=34.5% goal=260.84m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.81km/h thr=0.38 brk=0.00 str=-0.03 safe=0 progress=35.8% goal=255.76m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed= 19.79km/h thr=0.26 brk=0.00 str=-0.03 safe=0 progress=37.2% goal=250.38m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed= 20.72km/h thr=0.37 brk=0.00 str=-0.03 safe=0 progress=38.5% goal=244.86m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed= 20.50km/h thr=0.00 brk=0.01 str=+0.01 safe=0 progress=40.0% goal=238.95m dL=0.08 ttc=999.00s tl=Green credit=0 reason=
[STEP] step=1260 speed= 19.43km/h thr=0.50 brk=0.00 str=-0.01 safe=0 progress=41.3% goal=233.78m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed= 23.36km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=42.9% goal=227.66m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 20.75km/h thr=0.27 brk=0.00 str=-0.04 safe=0 progress=44.4% goal=221.51m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 19.52km/h thr=0.38 brk=0.00 str=-0.02 safe=0 progress=45.8% goal=215.97m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed= 20.81km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=47.2% goal=210.37m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 21.40km/h thr=0.33 brk=0.00 str=-0.03 safe=0 progress=48.7% goal=204.49m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 21.72km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=50.2% goal=198.52m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 22.12km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=51.7% goal=192.42m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 22.81km/h thr=0.40 brk=0.00 str=+0.01 safe=0 progress=53.3% goal=186.19m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 23.45km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=54.9% goal=179.72m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed= 23.46km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=56.5% goal=173.24m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=57.7% goal=168.69m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed=  1.68km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=57.7% goal=168.65m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 15.77km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=58.4% goal=165.91m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed=  9.30km/h thr=0.00 brk=0.44 str=-0.17 safe=0 progress=59.3% goal=162.08m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=59.5% goal=161.44m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 11.22km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=59.7% goal=160.44m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed= 14.20km/h thr=0.00 brk=0.44 str=-0.12 safe=0 progress=60.8% goal=156.27m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.15 safe=0 progress=61.3% goal=154.08m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed=  2.39km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=61.3% goal=154.02m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed= 16.09km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=62.1% goal=151.10m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed=  8.93km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=63.0% goal=147.33m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.15 safe=0 progress=63.2% goal=146.76m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed= 12.11km/h thr=0.69 brk=0.00 str=-0.04 safe=1 progress=63.5% goal=145.60m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed= 13.42km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=64.5% goal=141.41m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=65.0% goal=139.49m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed=  4.03km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=65.0% goal=139.34m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed= 16.39km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=65.9% goal=136.07m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1820 speed=  8.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=66.7% goal=132.52m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.10 safe=0 progress=66.8% goal=132.23m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed= 13.62km/h thr=0.46 brk=0.00 str=-0.09 safe=1 progress=67.2% goal=130.71m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed= 12.36km/h thr=0.00 brk=0.45 str=-0.12 safe=0 progress=68.2% goal=126.53m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=68.6% goal=125.00m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed=  5.81km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=68.7% goal=124.71m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed= 16.32km/h thr=0.12 brk=0.00 str=+0.12 safe=0 progress=69.6% goal=121.11m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed=  6.84km/h thr=0.00 brk=0.45 str=-0.10 safe=0 progress=70.4% goal=117.84m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=70.4% goal=117.77m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed= 14.51km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=70.9% goal=115.85m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed= 11.36km/h thr=0.00 brk=0.45 str=-0.09 safe=0 progress=72.0% goal=111.72m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.16 safe=0 progress=72.3% goal=110.48m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed=  7.73km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=72.4% goal=110.00m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed= 16.27km/h thr=0.10 brk=0.00 str=-0.04 safe=0 progress=73.4% goal=106.10m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed= 15.99km/h thr=0.33 brk=0.00 str=-0.12 safe=0 progress=74.5% goal=101.70m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed= 13.03km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=75.5% goal=97.60m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed= 18.91km/h thr=0.40 brk=0.00 str=+0.04 safe=0 progress=76.7% goal=92.95m dL=0.73 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed= 18.97km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=78.0% goal=87.59m dL=0.89 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2180 speed= 18.09km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=79.3% goal=82.50m dL=0.90 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2200 speed= 18.00km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=80.6% goal=77.48m dL=0.93 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2220 speed= 18.18km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=81.8% goal=72.47m dL=0.98 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2240 speed= 17.89km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=83.1% goal=67.45m dL=1.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2260 speed= 17.93km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=84.3% goal=62.42m dL=1.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed= 18.02km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=85.6% goal=57.39m dL=1.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed= 18.06km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=86.9% goal=52.35m dL=1.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2320 speed= 17.94km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=88.1% goal=47.31m dL=1.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2340 speed= 18.24km/h thr=0.31 brk=0.00 str=+0.00 safe=0 progress=89.4% goal=42.26m dL=1.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2360 speed= 18.18km/h thr=0.31 brk=0.00 str=+0.00 safe=0 progress=90.7% goal=37.20m dL=1.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2380 speed= 17.99km/h thr=0.32 brk=0.00 str=+0.00 safe=0 progress=91.9% goal=32.15m dL=1.32 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2400 speed= 18.12km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=93.2% goal=27.06m dL=1.36 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2420 speed= 18.09km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=94.5% goal=21.98m dL=1.39 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2429 speed= 18.35km/h thr=0.22 brk=0.00 str=+0.06 safe=0 progress=95.1% goal=19.70m dL=1.40 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=15 R=-18.58 steps=2429 success=1 progress=95.1% DS=95.06 intv=0.247 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 259 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 45 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=62.75m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=45 goal_idx=None route_len=376.5m spawn=(65.2,13.4,-0.0) yaw=-179.8 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=376.49m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=376.49m dL=0.00 ttc=59.51s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.4% goal=374.87m dL=0.00 ttc=12.50s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.31km/h thr=0.00 brk=0.21 str=-0.00 safe=0 progress=1.6% goal=370.34m dL=0.09 ttc=11.88s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.20 safe=0 progress=2.3% goal=367.96m dL=0.14 ttc=13.19s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.88km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=2.3% goal=367.95m dL=0.14 ttc=14.69s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.92km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=3.0% goal=365.32m dL=0.06 ttc=10.64s tl=None credit=0 reason=
[STEP] step=0140 speed= 12.48km/h thr=0.00 brk=0.22 str=-0.00 safe=0 progress=4.1% goal=360.89m dL=0.11 ttc=15.06s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.31 safe=0 progress=4.7% goal=358.92m dL=0.15 ttc=33.78s tl=None credit=0 reason=
[STEP] step=0180 speed=  3.11km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=4.7% goal=358.81m dL=0.14 ttc=34.67s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.91km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=5.6% goal=355.56m dL=0.05 ttc=23.71s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.99km/h thr=0.33 brk=0.00 str=+0.06 safe=0 progress=6.8% goal=350.93m dL=0.47 ttc=25.39s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.00km/h thr=0.27 brk=0.00 str=+0.05 safe=0 progress=8.0% goal=346.46m dL=0.77 ttc=24.49s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.62km/h thr=0.16 brk=0.00 str=+0.02 safe=0 progress=9.0% goal=342.64m dL=0.84 ttc=20.70s tl=None credit=0 reason=
[STEP] step=0280 speed= 11.90km/h thr=0.42 brk=0.00 str=+0.00 safe=0 progress=9.8% goal=339.47m dL=0.71 ttc=12.13s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.78km/h thr=0.16 brk=0.00 str=+0.01 safe=0 progress=10.9% goal=335.34m dL=0.67 ttc=7.70s tl=None credit=0 reason=
[STEP] step=0320 speed= 13.64km/h thr=0.08 brk=0.00 str=-0.03 safe=0 progress=12.1% goal=331.02m dL=0.84 ttc=5.52s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.69km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=13.0% goal=327.58m dL=0.57 ttc=4.63s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.45km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=14.2% goal=323.14m dL=0.28 ttc=3.44s tl=None credit=0 reason=
[STEP] step=0380 speed= 16.16km/h thr=0.19 brk=0.00 str=+0.01 safe=0 progress=15.4% goal=318.63m dL=0.14 ttc=2.63s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.05km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=16.6% goal=314.17m dL=0.22 ttc=2.04s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.87km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=17.8% goal=309.65m dL=0.32 ttc=7.60s tl=None credit=0 reason=
[STEP] step=0440 speed= 17.10km/h thr=0.18 brk=0.00 str=+0.09 safe=0 progress=19.0% goal=304.94m dL=0.34 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.05km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=20.3% goal=300.07m dL=0.32 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.74km/h thr=0.32 brk=0.00 str=-0.05 safe=0 progress=21.6% goal=295.09m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 18.01km/h thr=0.32 brk=0.00 str=+0.07 safe=0 progress=22.9% goal=290.09m dL=0.21 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0520 speed= 10.41km/h thr=0.00 brk=0.44 str=+0.01 safe=0 progress=24.1% goal=285.88m dL=0.00 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0540 speed=  2.16km/h thr=0.19 brk=0.00 str=-0.11 safe=0 progress=24.4% goal=284.44m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  9.75km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=24.9% goal=282.84m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.32km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=25.8% goal=279.18m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 10.56km/h thr=0.00 brk=0.22 str=+0.01 safe=0 progress=26.9% goal=275.20m dL=0.03 ttc=106.80s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.15 safe=0 progress=27.2% goal=273.93m dL=0.02 ttc=29.06s tl=None credit=0 reason=
[STEP] step=0640 speed=  5.75km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=27.3% goal=273.64m dL=0.02 ttc=34.36s tl=None credit=0 reason=
[STEP] step=0660 speed= 17.38km/h thr=0.00 brk=0.08 str=+0.00 safe=0 progress=28.3% goal=269.85m dL=0.01 ttc=65.01s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.50km/h thr=0.00 brk=0.18 str=-0.01 safe=0 progress=29.3% goal=266.16m dL=0.01 ttc=40.58s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.02 safe=0 progress=29.5% goal=265.26m dL=0.02 ttc=29.16s tl=None credit=0 reason=
[STEP] step=0720 speed=  9.35km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=29.7% goal=264.54m dL=0.01 ttc=43.61s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.43km/h thr=0.00 brk=0.18 str=-0.06 safe=0 progress=30.9% goal=260.21m dL=0.01 ttc=60.14s tl=None credit=0 reason=
[STEP] step=0760 speed=  8.68km/h thr=0.00 brk=0.21 str=-0.01 safe=0 progress=31.8% goal=256.77m dL=0.02 ttc=44.29s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.11 safe=0 progress=32.0% goal=256.17m dL=0.02 ttc=39.45s tl=None credit=0 reason=
[STEP] step=0800 speed= 11.24km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=32.2% goal=255.17m dL=0.01 ttc=93.25s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.59km/h thr=0.00 brk=0.17 str=+0.01 safe=0 progress=33.4% goal=250.68m dL=0.01 ttc=207.95s tl=None credit=0 reason=
[STEP] step=0840 speed=  8.02km/h thr=0.00 brk=0.31 str=-0.08 safe=0 progress=34.3% goal=247.43m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.19 safe=0 progress=34.4% goal=246.96m dL=0.03 ttc=220.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 12.16km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=34.7% goal=245.80m dL=0.01 ttc=314.98s tl=None credit=0 reason=
[STEP] step=0900 speed= 15.45km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=35.9% goal=241.22m dL=0.01 ttc=469.03s tl=None credit=0 reason=
[STEP] step=0920 speed=  8.24km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=36.8% goal=237.95m dL=0.01 ttc=34.25s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.12 safe=0 progress=36.9% goal=237.50m dL=0.02 ttc=14.59s tl=None credit=0 reason=
[STEP] step=0960 speed= 12.24km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=37.2% goal=236.32m dL=0.01 ttc=14.41s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.59km/h thr=0.08 brk=0.00 str=+0.05 safe=0 progress=38.5% goal=231.69m dL=0.04 ttc=15.35s tl=None credit=0 reason=
[STEP] step=1000 speed=  5.26km/h thr=0.00 brk=0.62 str=-0.05 safe=0 progress=39.4% goal=228.20m dL=0.01 ttc=12.74s tl=Red credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.27 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=11.04s tl=Red credit=20 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.27 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=10.31s tl=Red credit=40 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.27 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=9.80s tl=Red credit=60 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.27 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=10.83s tl=Red credit=80 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.11 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=12.12s tl=Red credit=100 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.03 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=13.82s tl=Red credit=120 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.00 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=99.05s tl=Red credit=140 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.06 safe=0 progress=39.4% goal=228.16m dL=0.01 ttc=60.77s tl=Green credit=140 reason=
[STEP] step=1180 speed=  7.62km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=39.5% goal=227.68m dL=0.00 ttc=35.27s tl=Green credit=120 reason=
[STEP] step=1200 speed= 16.95km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=40.5% goal=223.86m dL=0.05 ttc=999.00s tl=None credit=100 reason=
[STEP] step=1220 speed= 10.27km/h thr=0.00 brk=0.14 str=+0.16 safe=0 progress=41.6% goal=220.01m dL=0.18 ttc=68.25s tl=None credit=80 reason=
[STEP] step=1240 speed= 10.32km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=42.2% goal=217.47m dL=0.15 ttc=29.50s tl=None credit=60 reason=
[STEP] step=1260 speed=  8.36km/h thr=0.12 brk=0.00 str=+0.13 safe=0 progress=42.9% goal=214.82m dL=0.09 ttc=132.57s tl=None credit=40 reason=
[STEP] step=1280 speed=  7.99km/h thr=0.21 brk=0.00 str=+0.17 safe=0 progress=43.6% goal=212.52m dL=0.11 ttc=999.00s tl=None credit=20 reason=
[STEP] step=1300 speed=  7.93km/h thr=0.13 brk=0.00 str=+0.26 safe=0 progress=44.1% goal=210.27m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed=  7.71km/h thr=0.03 brk=0.00 str=+0.08 safe=0 progress=44.7% goal=208.12m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed=  7.00km/h thr=0.02 brk=0.00 str=+0.18 safe=0 progress=45.2% goal=206.23m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed=  7.73km/h thr=0.06 brk=0.00 str=+0.21 safe=0 progress=45.7% goal=204.41m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed=  7.77km/h thr=0.17 brk=0.00 str=+0.38 safe=0 progress=46.2% goal=202.43m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 10.67km/h thr=0.40 brk=0.00 str=+0.18 safe=0 progress=46.9% goal=199.94m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.41km/h thr=0.43 brk=0.00 str=+0.09 safe=0 progress=48.0% goal=195.66m dL=0.13 ttc=27.20s tl=None credit=0 reason=
[STEP] step=1440 speed= 20.00km/h thr=0.31 brk=0.00 str=+0.09 safe=0 progress=49.5% goal=190.31m dL=0.18 ttc=24.45s tl=None credit=0 reason=
[STEP] step=1460 speed= 19.07km/h thr=0.31 brk=0.00 str=+0.03 safe=0 progress=50.9% goal=184.93m dL=0.09 ttc=28.60s tl=None credit=0 reason=
[STEP] step=1480 speed= 18.18km/h thr=0.17 brk=0.00 str=-0.01 safe=0 progress=52.2% goal=179.82m dL=0.10 ttc=37.91s tl=None credit=0 reason=
[STEP] step=1500 speed= 11.95km/h thr=0.00 brk=0.15 str=+0.05 safe=0 progress=53.4% goal=175.52m dL=0.12 ttc=57.40s tl=None credit=0 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.07 safe=0 progress=53.9% goal=173.65m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed=  3.22km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=53.9% goal=173.55m dL=0.05 ttc=191.61s tl=None credit=0 reason=
[STEP] step=1560 speed= 16.30km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=54.7% goal=170.44m dL=0.04 ttc=48.25s tl=None credit=0 reason=
[STEP] step=1580 speed= 10.45km/h thr=0.00 brk=0.18 str=+0.08 safe=0 progress=55.8% goal=166.56m dL=0.00 ttc=56.80s tl=None credit=0 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.03 safe=0 progress=56.2% goal=164.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  3.91km/h thr=0.75 brk=0.00 str=+0.10 safe=1 progress=56.2% goal=164.83m dL=0.01 ttc=139.72s tl=None credit=0 reason=
[STEP] step=1640 speed= 16.40km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=57.1% goal=161.53m dL=0.06 ttc=34.63s tl=None credit=0 reason=
[STEP] step=1660 speed= 14.18km/h thr=0.23 brk=0.00 str=+0.04 safe=0 progress=58.2% goal=157.41m dL=0.02 ttc=34.91s tl=None credit=0 reason=
[STEP] step=1680 speed= 14.18km/h thr=0.16 brk=0.00 str=+0.03 safe=0 progress=59.2% goal=153.43m dL=0.06 ttc=31.30s tl=None credit=0 reason=
[STEP] step=1700 speed= 13.63km/h thr=0.22 brk=0.00 str=-0.05 safe=0 progress=60.3% goal=149.60m dL=0.07 ttc=33.90s tl=None credit=0 reason=
[STEP] step=1720 speed= 13.32km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=61.3% goal=145.86m dL=0.00 ttc=29.53s tl=None credit=0 reason=
[STEP] step=1740 speed= 13.35km/h thr=0.23 brk=0.00 str=+0.17 safe=0 progress=62.2% goal=142.17m dL=0.01 ttc=24.63s tl=None credit=0 reason=
[STEP] step=1760 speed= 13.44km/h thr=0.24 brk=0.00 str=+0.15 safe=0 progress=63.2% goal=138.46m dL=0.02 ttc=20.60s tl=None credit=0 reason=
[STEP] step=1780 speed= 13.16km/h thr=0.27 brk=0.00 str=+0.18 safe=0 progress=64.2% goal=134.76m dL=0.05 ttc=12.44s tl=None credit=0 reason=
[STEP] step=1800 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.11 safe=0 progress=65.2% goal=131.11m dL=0.12 ttc=9.39s tl=None credit=0 reason=
[STEP] step=1820 speed= 12.68km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=66.1% goal=127.69m dL=0.14 ttc=6.38s tl=None credit=0 reason=
[STEP] step=1840 speed= 13.18km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=67.0% goal=124.08m dL=0.16 ttc=3.60s tl=None credit=0 reason=
[STEP] step=1860 speed= 16.45km/h thr=0.30 brk=0.00 str=+0.18 safe=0 progress=68.1% goal=120.00m dL=0.12 ttc=1.81s tl=None credit=0 reason=
[STEP] step=1880 speed= 11.67km/h thr=0.00 brk=0.72 str=+0.04 safe=0 progress=69.3% goal=115.70m dL=0.16 ttc=1.17s tl=Red credit=0 reason=
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.04 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=13 reason=
[STEP] step=1920 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=33 reason=
[STEP] step=1940 speed=  0.00km/h thr=0.00 brk=0.90 str=+0.00 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=53 reason=
[STEP] step=1960 speed=  0.00km/h thr=0.00 brk=0.90 str=+0.00 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=73 reason=
[STEP] step=1980 speed=  0.00km/h thr=0.00 brk=0.85 str=+0.02 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=93 reason=
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.04 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=113 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.03 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=133 reason=
[STEP] step=2040 speed=  0.00km/h thr=0.00 brk=0.87 str=+0.02 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=153 reason=
[STEP] step=2060 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=144.22s tl=Red credit=173 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.89 str=-0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=59.47s tl=Red credit=193 reason=
[STEP] step=2100 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=43.11s tl=Red credit=213 reason=
[STEP] step=2120 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.02 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=43.36s tl=Red credit=233 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.02 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=45.00s tl=Red credit=253 reason=
[STEP] step=2160 speed=  0.00km/h thr=0.00 brk=0.90 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=47.22s tl=Red credit=273 reason=
[STEP] step=2180 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=50.10s tl=Red credit=293 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=52.87s tl=Red credit=313 reason=
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=63.76s tl=Red credit=333 reason=
[STEP] step=2240 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.02 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=82.88s tl=Red credit=353 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.90 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=107.86s tl=Red credit=373 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=140.66s tl=Red credit=393 reason=
[STEP] step=2300 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=413 reason=
[STEP] step=2320 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.01 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=433 reason=
[STEP] step=2340 speed=  0.00km/h thr=0.00 brk=0.91 str=+0.02 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Red credit=453 reason=
[STEP] step=2360 speed=  0.00km/h thr=0.00 brk=0.70 str=-0.02 safe=0 progress=69.5% goal=114.78m dL=0.13 ttc=999.00s tl=Green credit=469 reason=
[STEP] step=2380 speed=  0.85km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=69.5% goal=114.76m dL=0.13 ttc=999.00s tl=Green credit=449 reason=
[STEP] step=2400 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=70.2% goal=112.15m dL=0.08 ttc=182.76s tl=Green credit=429 reason=
[STEP] step=2420 speed= 20.60km/h thr=0.64 brk=0.00 str=+0.05 safe=0 progress=71.6% goal=107.03m dL=0.41 ttc=214.62s tl=None credit=409 reason=
[STEP] step=2440 speed= 18.07km/h thr=0.00 brk=0.34 str=-0.12 safe=0 progress=73.2% goal=101.06m dL=0.34 ttc=216.10s tl=None credit=389 reason=
[STEP] step=2460 speed= 16.79km/h thr=0.30 brk=0.00 str=+0.10 safe=0 progress=74.3% goal=96.62m dL=0.31 ttc=205.03s tl=None credit=369 reason=
[STEP] step=2480 speed= 15.13km/h thr=0.24 brk=0.00 str=-0.00 safe=0 progress=75.5% goal=92.11m dL=0.26 ttc=324.60s tl=None credit=349 reason=
[STEP] step=2500 speed= 19.47km/h thr=0.44 brk=0.00 str=+0.12 safe=0 progress=76.8% goal=87.29m dL=0.50 ttc=315.27s tl=None credit=329 reason=
[STEP] step=2520 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.10 safe=0 progress=78.0% goal=82.95m dL=0.25 ttc=999.00s tl=None credit=309 reason=
[STEP] step=2540 speed=  1.77km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=78.0% goal=82.91m dL=0.25 ttc=999.00s tl=None credit=289 reason=
[STEP] step=2560 speed= 17.23km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=78.7% goal=80.09m dL=0.11 ttc=389.48s tl=None credit=269 reason=
[STEP] step=2580 speed= 22.52km/h thr=0.35 brk=0.00 str=+0.04 safe=0 progress=80.2% goal=74.71m dL=0.55 ttc=999.00s tl=None credit=249 reason=
[STEP] step=2600 speed= 17.14km/h thr=0.00 brk=0.13 str=-0.03 safe=0 progress=81.7% goal=68.94m dL=0.49 ttc=688.17s tl=None credit=229 reason=
[STEP] step=2620 speed= 17.57km/h thr=0.38 brk=0.00 str=-0.07 safe=0 progress=82.9% goal=64.50m dL=0.55 ttc=999.00s tl=None credit=209 reason=
[STEP] step=2640 speed= 18.05km/h thr=0.23 brk=0.00 str=-0.02 safe=0 progress=84.2% goal=59.50m dL=0.67 ttc=999.00s tl=None credit=189 reason=
[STEP] step=2660 speed= 18.05km/h thr=0.25 brk=0.00 str=-0.05 safe=0 progress=85.5% goal=54.54m dL=0.73 ttc=999.00s tl=None credit=169 reason=
[STEP] step=2680 speed= 17.72km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=86.8% goal=49.57m dL=0.79 ttc=999.00s tl=None credit=149 reason=
[STEP] step=2700 speed= 17.25km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=88.1% goal=44.69m dL=0.80 ttc=999.00s tl=None credit=129 reason=
[STEP] step=2720 speed= 16.10km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=89.4% goal=40.09m dL=0.82 ttc=999.00s tl=None credit=109 reason=
[STEP] step=2740 speed= 16.61km/h thr=0.28 brk=0.00 str=+0.03 safe=0 progress=90.6% goal=35.55m dL=0.91 ttc=999.00s tl=None credit=89 reason=
[STEP] step=2760 speed= 17.28km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=91.8% goal=30.84m dL=0.99 ttc=999.00s tl=None credit=69 reason=
[STEP] step=2780 speed= 17.63km/h thr=0.25 brk=0.00 str=-0.01 safe=0 progress=93.1% goal=25.99m dL=1.05 ttc=999.00s tl=None credit=49 reason=
[STEP] step=2800 speed= 17.94km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=94.4% goal=21.05m dL=1.10 ttc=999.00s tl=None credit=29 reason=
[STEP] step=2809 speed= 17.95km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=95.0% goal=18.80m dL=1.12 ttc=999.00s tl=None credit=20 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=16 R=90.07 steps=2809 success=1 progress=95.0% DS=95.01 intv=0.116 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 263 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 140 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=60.11% dL=20.05m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=140 goal_idx=None route_len=362.8m spawn=(-41.7,-41.4,-0.0) yaw=-89.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=0.0% goal=362.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.97km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=0.0% goal=362.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 10.83km/h thr=0.00 brk=0.03 str=+0.06 safe=0 progress=0.8% goal=359.89m dL=0.17 ttc=999.00s tl=Yellow credit=0 reason=
[STEP] step=0060 speed=  8.55km/h thr=0.08 brk=0.00 str=+0.01 safe=0 progress=1.5% goal=357.42m dL=0.12 ttc=64.55s tl=Yellow credit=0 reason=
[STEP] step=0080 speed=  9.03km/h thr=0.02 brk=0.00 str=+0.23 safe=0 progress=2.1% goal=355.05m dL=0.13 ttc=34.22s tl=None credit=0 reason=
[STEP] step=0100 speed=  8.09km/h thr=0.26 brk=0.00 str=+0.24 safe=0 progress=2.8% goal=352.75m dL=0.13 ttc=37.41s tl=None credit=0 reason=
[STEP] step=0120 speed=  7.85km/h thr=0.16 brk=0.00 str=+0.02 safe=0 progress=3.4% goal=350.44m dL=0.16 ttc=43.55s tl=None credit=0 reason=
[STEP] step=0140 speed=  7.95km/h thr=0.15 brk=0.00 str=+0.15 safe=0 progress=4.0% goal=348.27m dL=0.17 ttc=45.71s tl=None credit=0 reason=
[STEP] step=0160 speed=  7.90km/h thr=0.16 brk=0.00 str=+0.26 safe=0 progress=4.6% goal=346.13m dL=0.18 ttc=221.39s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.87km/h thr=0.17 brk=0.00 str=+0.33 safe=0 progress=5.2% goal=343.99m dL=0.18 ttc=142.60s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.58km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=5.8% goal=341.66m dL=0.03 ttc=85.87s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.92km/h thr=0.00 brk=0.06 str=+0.08 safe=0 progress=7.0% goal=337.26m dL=0.09 ttc=44.06s tl=None credit=0 reason=
[STEP] step=0240 speed=  9.75km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=8.1% goal=333.39m dL=0.11 ttc=82.39s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.15 safe=0 progress=8.4% goal=332.45m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  9.51km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=8.6% goal=331.73m dL=0.08 ttc=85.75s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.44km/h thr=0.00 brk=0.20 str=+0.02 safe=0 progress=9.7% goal=327.40m dL=0.06 ttc=46.97s tl=None credit=0 reason=
[STEP] step=0320 speed=  8.07km/h thr=0.00 brk=0.37 str=+0.04 safe=0 progress=10.7% goal=324.04m dL=0.07 ttc=95.02s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.16 safe=0 progress=10.8% goal=323.69m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.08km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=11.1% goal=322.35m dL=0.04 ttc=60.60s tl=None credit=0 reason=
[STEP] step=0380 speed= 14.57km/h thr=0.00 brk=0.24 str=-0.02 safe=0 progress=12.4% goal=317.79m dL=0.05 ttc=54.05s tl=None credit=0 reason=
[STEP] step=0400 speed=  5.74km/h thr=0.00 brk=0.33 str=-0.01 safe=0 progress=13.2% goal=314.90m dL=0.04 ttc=137.25s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.07km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=13.2% goal=314.86m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 16.03km/h thr=0.44 brk=0.00 str=+0.01 safe=1 progress=13.8% goal=312.68m dL=0.03 ttc=42.80s tl=None credit=0 reason=
[STEP] step=0460 speed= 12.70km/h thr=0.00 brk=0.24 str=+0.00 safe=0 progress=15.0% goal=308.22m dL=0.04 ttc=26.04s tl=None credit=0 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.14 safe=0 progress=15.6% goal=306.17m dL=0.03 ttc=47.74s tl=None credit=0 reason=
[STEP] step=0500 speed=  2.18km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=15.6% goal=306.11m dL=0.03 ttc=32.47s tl=None credit=0 reason=
[STEP] step=0520 speed= 17.63km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=16.5% goal=303.04m dL=0.00 ttc=13.62s tl=None credit=0 reason=
[STEP] step=0540 speed= 11.43km/h thr=0.00 brk=0.24 str=-0.00 safe=0 progress=17.6% goal=298.78m dL=0.01 ttc=14.82s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.17 safe=0 progress=18.1% goal=297.20m dL=0.01 ttc=21.20s tl=None credit=0 reason=
[STEP] step=0580 speed=  4.87km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=18.1% goal=296.99m dL=0.01 ttc=18.27s tl=None credit=0 reason=
[STEP] step=0600 speed= 17.91km/h thr=0.18 brk=0.00 str=+0.06 safe=0 progress=19.1% goal=293.35m dL=0.01 ttc=11.69s tl=None credit=0 reason=
[STEP] step=0620 speed= 10.31km/h thr=0.00 brk=0.25 str=+0.00 safe=0 progress=20.2% goal=289.38m dL=0.01 ttc=14.78s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.11 safe=0 progress=20.5% goal=288.22m dL=0.00 ttc=23.74s tl=None credit=0 reason=
[STEP] step=0660 speed=  7.67km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=20.7% goal=287.74m dL=0.00 ttc=12.65s tl=None credit=0 reason=
[STEP] step=0680 speed= 17.45km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=21.8% goal=283.62m dL=0.03 ttc=7.33s tl=None credit=0 reason=
[STEP] step=0700 speed=  9.21km/h thr=0.00 brk=0.24 str=+0.00 safe=0 progress=22.8% goal=279.96m dL=0.01 ttc=7.26s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=23.0% goal=279.18m dL=0.00 ttc=7.96s tl=None credit=0 reason=
[STEP] step=0740 speed= 10.45km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=23.3% goal=278.32m dL=0.00 ttc=4.63s tl=None credit=0 reason=
[STEP] step=0760 speed= 17.64km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=24.5% goal=273.84m dL=0.01 ttc=2.87s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.87km/h thr=0.22 brk=0.00 str=-0.01 safe=0 progress=25.8% goal=269.03m dL=0.08 ttc=1.95s tl=None credit=0 reason=
[STEP] step=0800 speed= 16.20km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=27.1% goal=264.50m dL=0.14 ttc=1.46s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.73km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=28.3% goal=259.94m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 16.92km/h thr=0.25 brk=0.00 str=-0.01 safe=0 progress=29.6% goal=255.26m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 17.02km/h thr=0.23 brk=0.00 str=-0.03 safe=0 progress=30.9% goal=250.51m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 12.59km/h thr=0.06 brk=0.00 str=+0.03 safe=0 progress=32.1% goal=246.27m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.53km/h thr=0.16 brk=0.00 str=+0.10 safe=0 progress=33.1% goal=242.63m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 13.01km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=34.1% goal=238.99m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 13.05km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=35.1% goal=235.37m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed= 13.10km/h thr=0.19 brk=0.00 str=+0.09 safe=0 progress=36.1% goal=231.75m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 13.10km/h thr=0.19 brk=0.00 str=+0.09 safe=0 progress=37.1% goal=228.11m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 13.07km/h thr=0.25 brk=0.00 str=+0.02 safe=0 progress=38.1% goal=224.48m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 13.07km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=39.1% goal=220.87m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 13.03km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=40.1% goal=217.25m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 13.01km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=41.1% goal=213.64m dL=0.07 ttc=75.35s tl=None credit=0 reason=
[STEP] step=1080 speed= 12.98km/h thr=0.20 brk=0.00 str=+0.10 safe=0 progress=42.1% goal=210.04m dL=0.07 ttc=51.61s tl=None credit=0 reason=
[STEP] step=1100 speed= 12.98km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=43.1% goal=206.44m dL=0.06 ttc=26.91s tl=None credit=0 reason=
[STEP] step=1120 speed= 13.52km/h thr=0.26 brk=0.00 str=+0.08 safe=0 progress=44.1% goal=202.82m dL=0.07 ttc=21.04s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.10km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=45.2% goal=198.78m dL=0.08 ttc=18.01s tl=None credit=0 reason=
[STEP] step=1160 speed= 16.34km/h thr=0.27 brk=0.00 str=+0.09 safe=0 progress=46.4% goal=194.34m dL=0.04 ttc=15.68s tl=None credit=0 reason=
[STEP] step=1180 speed= 17.83km/h thr=0.43 brk=0.00 str=+0.02 safe=0 progress=47.7% goal=189.74m dL=0.06 ttc=14.54s tl=None credit=0 reason=
[STEP] step=1200 speed= 19.67km/h thr=0.43 brk=0.00 str=+0.11 safe=0 progress=49.1% goal=184.58m dL=0.23 ttc=12.91s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.63km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=50.6% goal=179.16m dL=0.09 ttc=12.14s tl=Green credit=0 reason=
[STEP] step=1240 speed= 18.00km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=52.0% goal=174.17m dL=0.04 ttc=11.20s tl=None credit=0 reason=
[STEP] step=1260 speed= 18.15km/h thr=0.38 brk=0.00 str=+0.03 safe=0 progress=53.4% goal=169.17m dL=0.04 ttc=10.14s tl=None credit=0 reason=
[STEP] step=1280 speed= 18.62km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=54.8% goal=164.04m dL=0.03 ttc=9.29s tl=None credit=0 reason=
[STEP] step=1300 speed= 19.51km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=56.2% goal=158.72m dL=0.03 ttc=8.40s tl=None credit=0 reason=
[STEP] step=1320 speed= 20.43km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=57.8% goal=153.14m dL=0.03 ttc=7.55s tl=None credit=0 reason=
[STEP] step=1340 speed= 20.95km/h thr=0.33 brk=0.00 str=-0.04 safe=0 progress=59.4% goal=147.34m dL=0.01 ttc=6.74s tl=None credit=0 reason=
[STEP] step=1360 speed= 22.88km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=61.1% goal=141.29m dL=0.11 ttc=6.37s tl=None credit=0 reason=
[STEP] step=1380 speed= 23.63km/h thr=0.29 brk=0.00 str=-0.07 safe=0 progress=62.9% goal=134.72m dL=0.11 ttc=6.67s tl=None credit=0 reason=
[STEP] step=1400 speed= 23.12km/h thr=0.28 brk=0.00 str=+0.04 safe=0 progress=64.7% goal=128.20m dL=0.14 ttc=11.11s tl=None credit=0 reason=
[STEP] step=1420 speed= 22.15km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=66.4% goal=121.90m dL=0.09 ttc=30.75s tl=None credit=0 reason=
[STEP] step=1440 speed= 20.79km/h thr=0.15 brk=0.00 str=-0.02 safe=0 progress=68.1% goal=115.80m dL=0.10 ttc=400.38s tl=None credit=0 reason=
[STEP] step=1460 speed= 21.37km/h thr=0.47 brk=0.00 str=+0.00 safe=0 progress=69.6% goal=110.23m dL=0.05 ttc=316.09s tl=None credit=0 reason=
[STEP] step=1480 speed= 24.19km/h thr=0.40 brk=0.00 str=+0.01 safe=0 progress=71.4% goal=103.85m dL=0.01 ttc=458.56s tl=None credit=0 reason=
[STEP] step=1500 speed= 26.21km/h thr=0.44 brk=0.00 str=-0.05 safe=0 progress=73.3% goal=96.80m dL=0.01 ttc=514.37s tl=None credit=0 reason=
[STEP] step=1520 speed= 27.82km/h thr=0.48 brk=0.00 str=-0.03 safe=0 progress=75.4% goal=89.30m dL=0.02 ttc=899.92s tl=None credit=0 reason=
[STEP] step=1540 speed= 26.75km/h thr=0.17 brk=0.00 str=-0.00 safe=0 progress=77.5% goal=81.51m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed= 17.48km/h thr=0.00 brk=0.08 str=+0.14 safe=0 progress=79.2% goal=75.34m dL=0.23 ttc=217.94s tl=None credit=0 reason=
[STEP] step=1580 speed= 13.69km/h thr=0.19 brk=0.00 str=+0.12 safe=0 progress=80.4% goal=71.15m dL=0.00 ttc=130.81s tl=None credit=0 reason=
[STEP] step=1600 speed= 15.81km/h thr=0.23 brk=0.00 str=+0.05 safe=0 progress=81.5% goal=67.26m dL=0.20 ttc=77.86s tl=None credit=0 reason=
[STEP] step=1620 speed=  9.32km/h thr=0.00 brk=0.19 str=+0.08 safe=0 progress=82.5% goal=63.60m dL=0.09 ttc=59.15s tl=None credit=0 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.03 safe=0 progress=82.7% goal=62.67m dL=0.10 ttc=56.36s tl=None credit=0 reason=
[STEP] step=1660 speed=  8.50km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=82.9% goal=62.08m dL=0.10 ttc=38.30s tl=None credit=0 reason=
[STEP] step=1680 speed= 16.30km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=84.0% goal=58.09m dL=0.16 ttc=25.72s tl=None credit=0 reason=
[STEP] step=1700 speed= 13.09km/h thr=0.17 brk=0.00 str=+0.02 safe=0 progress=85.1% goal=54.10m dL=0.17 ttc=20.91s tl=None credit=0 reason=
[STEP] step=1720 speed= 13.19km/h thr=0.14 brk=0.00 str=+0.03 safe=0 progress=86.1% goal=50.53m dL=0.21 ttc=18.50s tl=None credit=0 reason=
[STEP] step=1740 speed=  1.90km/h thr=0.00 brk=0.33 str=-0.01 safe=0 progress=86.8% goal=47.81m dL=0.13 ttc=23.86s tl=None credit=0 reason=
[STEP] step=1760 speed=  0.13km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=86.8% goal=47.81m dL=0.13 ttc=27.14s tl=None credit=0 reason=
[STEP] step=1780 speed= 14.07km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=87.4% goal=45.73m dL=0.11 ttc=18.62s tl=None credit=0 reason=
[STEP] step=1800 speed= 11.31km/h thr=0.00 brk=0.24 str=+0.09 safe=0 progress=88.5% goal=41.77m dL=0.08 ttc=20.57s tl=None credit=0 reason=
[STEP] step=1820 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.07 safe=0 progress=88.9% goal=40.21m dL=0.06 ttc=25.94s tl=None credit=0 reason=
[STEP] step=1840 speed=  4.84km/h thr=0.75 brk=0.00 str=+0.15 safe=1 progress=89.0% goal=40.00m dL=0.06 ttc=12.93s tl=None credit=0 reason=
[STEP] step=1860 speed= 15.86km/h thr=0.18 brk=0.00 str=+0.09 safe=0 progress=89.9% goal=36.65m dL=0.11 ttc=8.82s tl=None credit=0 reason=
[STEP] step=1880 speed=  8.66km/h thr=0.00 brk=0.22 str=+0.15 safe=0 progress=90.9% goal=33.16m dL=0.08 ttc=9.07s tl=None credit=0 reason=
[STEP] step=1900 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.05 safe=0 progress=91.0% goal=32.47m dL=0.10 ttc=10.21s tl=None credit=0 reason=
[STEP] step=1920 speed= 10.36km/h thr=0.75 brk=0.00 str=+0.15 safe=1 progress=91.3% goal=31.61m dL=0.10 ttc=7.06s tl=None credit=0 reason=
[STEP] step=1940 speed= 14.57km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=92.4% goal=27.64m dL=0.08 ttc=5.45s tl=None credit=0 reason=
[STEP] step=1960 speed=  6.92km/h thr=0.00 brk=0.23 str=+0.15 safe=0 progress=93.2% goal=24.70m dL=0.08 ttc=5.39s tl=None credit=0 reason=
[STEP] step=1980 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.03 safe=0 progress=93.2% goal=24.53m dL=0.08 ttc=5.49s tl=None credit=0 reason=
[STEP] step=2000 speed= 11.85km/h thr=0.42 brk=0.00 str=+0.13 safe=1 progress=93.6% goal=23.06m dL=0.14 ttc=3.27s tl=None credit=0 reason=
[STEP] step=2020 speed= 14.47km/h thr=0.06 brk=0.00 str=+0.06 safe=0 progress=94.7% goal=19.07m dL=0.09 ttc=2.20s tl=None credit=0 reason=
[STEP] step=2025 speed= 13.23km/h thr=0.06 brk=0.00 str=+0.01 safe=0 progress=95.0% goal=18.11m dL=0.05 ttc=2.05s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=17 R=20.62 steps=2025 success=1 progress=95.0% DS=95.01 intv=0.160 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 267 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 140 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=60.11% dL=20.05m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=140 goal_idx=None route_len=362.8m spawn=(-41.7,-41.4,-0.0) yaw=-89.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=0.0% goal=362.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.97km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=0.0% goal=362.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 10.80km/h thr=0.00 brk=0.03 str=+0.05 safe=0 progress=0.8% goal=359.90m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed=  8.59km/h thr=0.08 brk=0.00 str=+0.03 safe=0 progress=1.5% goal=357.43m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  9.21km/h thr=0.02 brk=0.00 str=+0.23 safe=0 progress=2.1% goal=355.04m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  8.05km/h thr=0.34 brk=0.00 str=+0.24 safe=0 progress=2.8% goal=352.71m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed=  7.92km/h thr=0.16 brk=0.00 str=+0.03 safe=0 progress=3.4% goal=350.39m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  7.95km/h thr=0.15 brk=0.00 str=+0.15 safe=0 progress=4.0% goal=348.22m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  7.89km/h thr=0.16 brk=0.00 str=+0.26 safe=0 progress=4.6% goal=346.08m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.85km/h thr=0.17 brk=0.00 str=+0.33 safe=0 progress=5.2% goal=343.94m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.48km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=5.8% goal=341.61m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.90km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=7.0% goal=337.22m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  9.15km/h thr=0.00 brk=0.50 str=+0.02 safe=0 progress=8.1% goal=333.41m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.63 str=-0.16 safe=0 progress=8.2% goal=332.89m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 12.27km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=8.6% goal=331.72m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 15.07km/h thr=0.00 brk=0.22 str=+0.01 safe=0 progress=9.8% goal=327.18m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.08 safe=0 progress=10.6% goal=324.43m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed=  1.04km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=10.6% goal=324.41m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.86km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=11.3% goal=321.80m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 11.88km/h thr=0.00 brk=0.29 str=-0.05 safe=0 progress=12.5% goal=317.43m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.19 safe=0 progress=12.9% goal=316.08m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed=  6.76km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=13.0% goal=315.69m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 17.62km/h thr=0.00 brk=0.08 str=+0.04 safe=0 progress=14.1% goal=311.73m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  8.67km/h thr=0.00 brk=0.43 str=-0.03 safe=0 progress=15.1% goal=308.05m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.11 safe=0 progress=15.2% goal=307.55m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 11.36km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=15.5% goal=306.54m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.95km/h thr=0.00 brk=0.21 str=-0.04 safe=0 progress=16.7% goal=302.12m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.21 safe=0 progress=17.4% goal=299.46m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.22km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=17.4% goal=299.46m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.54km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=18.1% goal=297.05m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 12.05km/h thr=0.00 brk=0.36 str=-0.04 safe=0 progress=19.3% goal=292.70m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.22 safe=0 progress=19.7% goal=291.21m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed=  5.72km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=19.8% goal=290.92m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 17.81km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=20.8% goal=287.12m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.61km/h thr=0.00 brk=0.41 str=-0.10 safe=0 progress=21.9% goal=283.25m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.19 safe=0 progress=22.1% goal=282.55m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 11.34km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=22.4% goal=281.53m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.10km/h thr=0.06 brk=0.00 str=-0.02 safe=0 progress=23.6% goal=277.03m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed=  7.13km/h thr=0.00 brk=0.59 str=-0.07 safe=0 progress=24.5% goal=273.74m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=24.6% goal=273.66m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.52km/h thr=0.53 brk=0.00 str=+0.01 safe=1 progress=25.1% goal=271.71m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.69km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=26.4% goal=266.95m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed=  3.31km/h thr=0.00 brk=0.56 str=+0.00 safe=0 progress=27.3% goal=263.84m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.30km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=27.3% goal=263.83m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.12km/h thr=0.44 brk=0.00 str=+0.01 safe=1 progress=27.9% goal=261.66m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 16.64km/h thr=0.15 brk=0.00 str=-0.06 safe=0 progress=29.2% goal=256.84m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 12.76km/h thr=0.00 brk=0.32 str=-0.01 safe=0 progress=30.4% goal=252.55m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.19 safe=0 progress=30.9% goal=250.82m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  4.82km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=30.9% goal=250.61m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.21km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=31.9% goal=247.21m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 12.16km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=32.9% goal=243.39m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 13.16km/h thr=0.18 brk=0.00 str=+0.08 safe=0 progress=33.9% goal=239.67m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.10 safe=0 progress=34.9% goal=236.06m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=35.9% goal=232.46m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=36.9% goal=228.86m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=37.9% goal=225.26m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=38.9% goal=221.66m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=39.9% goal=218.06m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 12.98km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=40.9% goal=214.47m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 12.97km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=41.9% goal=210.87m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed= 12.98km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=42.9% goal=207.27m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed= 12.97km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=43.9% goal=203.67m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed= 15.71km/h thr=0.42 brk=0.00 str=+0.11 safe=0 progress=44.9% goal=199.79m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed= 15.85km/h thr=0.20 brk=0.00 str=+0.10 safe=0 progress=46.1% goal=195.35m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed= 18.12km/h thr=0.71 brk=0.00 str=+0.04 safe=0 progress=47.4% goal=190.65m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 26.68km/h thr=0.46 brk=0.00 str=+0.11 safe=0 progress=49.2% goal=184.32m dL=0.30 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 23.91km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=51.2% goal=176.97m dL=0.10 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1340 speed= 20.74km/h thr=0.40 brk=0.00 str=-0.02 safe=0 progress=52.9% goal=171.02m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 22.81km/h thr=0.40 brk=0.00 str=+0.00 safe=0 progress=54.5% goal=164.98m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 24.23km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=56.3% goal=158.42m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 24.64km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=58.2% goal=151.62m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 24.23km/h thr=0.30 brk=0.00 str=-0.09 safe=0 progress=60.1% goal=144.79m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 24.81km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=62.0% goal=137.97m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed= 24.68km/h thr=0.37 brk=0.00 str=+0.00 safe=0 progress=63.9% goal=131.12m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed= 24.73km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=65.7% goal=124.25m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 24.44km/h thr=0.36 brk=0.00 str=-0.09 safe=0 progress=67.6% goal=117.40m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 19.69km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=69.4% goal=111.07m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed= 22.32km/h thr=0.30 brk=0.00 str=+0.11 safe=0 progress=70.9% goal=105.51m dL=0.55 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed= 18.09km/h thr=0.16 brk=0.00 str=-0.00 safe=0 progress=72.5% goal=99.75m dL=0.46 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 18.22km/h thr=0.27 brk=0.00 str=-0.05 safe=0 progress=73.9% goal=94.79m dL=0.56 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed= 18.15km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=75.3% goal=89.76m dL=0.76 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed= 18.17km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=76.6% goal=84.72m dL=0.84 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed= 18.45km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=78.0% goal=79.69m dL=0.89 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed= 20.56km/h thr=0.45 brk=0.00 str=+0.09 safe=0 progress=79.5% goal=74.40m dL=0.99 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed= 23.62km/h thr=0.44 brk=0.00 str=+0.02 safe=0 progress=81.1% goal=68.43m dL=1.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1700 speed= 26.36km/h thr=0.44 brk=0.00 str=+0.05 safe=0 progress=83.0% goal=61.63m dL=1.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed= 28.62km/h thr=0.44 brk=0.00 str=+0.02 safe=0 progress=85.0% goal=54.25m dL=1.36 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed= 29.01km/h thr=0.42 brk=0.00 str=+0.03 safe=0 progress=87.2% goal=46.41m dL=1.39 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed= 27.34km/h thr=0.38 brk=0.00 str=+0.03 safe=0 progress=89.3% goal=38.92m dL=1.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed= 22.00km/h thr=0.00 brk=0.23 str=+0.00 safe=0 progress=91.2% goal=31.97m dL=0.47 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed= 12.38km/h thr=0.18 brk=0.00 str=+0.06 safe=0 progress=92.2% goal=28.24m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1820 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.14 safe=0 progress=92.9% goal=25.93m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed=  1.65km/h thr=0.75 brk=0.00 str=-0.09 safe=1 progress=92.9% goal=25.90m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed= 13.91km/h thr=0.42 brk=0.00 str=+0.10 safe=1 progress=93.5% goal=23.40m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed= 18.25km/h thr=0.45 brk=0.00 str=-0.04 safe=0 progress=94.8% goal=19.00m dL=0.65 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1884 speed= 18.43km/h thr=0.45 brk=0.00 str=+0.02 safe=0 progress=95.0% goal=18.01m dL=0.91 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=18 R=-20.38 steps=1884 success=1 progress=95.0% DS=95.04 intv=0.159 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 269 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 9 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=26.04% dL=60.18m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=9 goal_idx=None route_len=398.5m spawn=(-114.5,70.1,-0.0) yaw=90.6 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=398.50m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=398.50m dL=0.00 ttc=104.49s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.17km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=0.4% goal=396.90m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 11.54km/h thr=0.00 brk=0.30 str=-0.00 safe=0 progress=1.5% goal=392.70m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.14 safe=0 progress=1.8% goal=391.14m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.79km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=1.9% goal=390.92m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.07km/h thr=0.18 brk=0.00 str=-0.00 safe=0 progress=2.8% goal=387.40m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  8.94km/h thr=0.00 brk=0.33 str=-0.03 safe=0 progress=3.7% goal=383.73m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.16 safe=0 progress=3.9% goal=383.07m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 11.17km/h thr=0.75 brk=0.00 str=-0.07 safe=1 progress=4.1% goal=382.08m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 14.87km/h thr=0.00 brk=0.31 str=+0.04 safe=0 progress=5.2% goal=377.76m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  3.34km/h thr=0.00 brk=0.37 str=-0.05 safe=0 progress=5.9% goal=374.88m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.07km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=5.9% goal=374.87m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 15.45km/h thr=0.42 brk=0.00 str=-0.05 safe=1 progress=6.5% goal=372.73m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 12.12km/h thr=0.00 brk=0.29 str=-0.01 safe=0 progress=7.5% goal=368.43m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.13 safe=0 progress=8.0% goal=366.68m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  4.03km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=8.0% goal=366.53m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.05km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=8.9% goal=363.16m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  9.75km/h thr=0.00 brk=0.31 str=-0.02 safe=0 progress=9.8% goal=359.29m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.13 safe=0 progress=10.1% goal=358.39m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  9.37km/h thr=0.75 brk=0.00 str=-0.13 safe=1 progress=10.2% goal=357.68m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.54km/h thr=0.00 brk=0.32 str=+0.06 safe=0 progress=11.3% goal=353.52m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  6.98km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=12.1% goal=350.45m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.11 safe=0 progress=12.1% goal=350.32m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.18km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=12.5% goal=348.61m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 12.43km/h thr=0.00 brk=0.29 str=-0.03 safe=0 progress=13.6% goal=344.40m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.13 safe=0 progress=14.0% goal=342.53m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  3.16km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=14.1% goal=342.44m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.36km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=14.9% goal=339.32m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  9.40km/h thr=0.00 brk=0.32 str=-0.08 safe=0 progress=15.8% goal=335.55m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.16 safe=0 progress=16.0% goal=334.78m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 10.27km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=16.2% goal=333.92m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.81km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=17.3% goal=329.75m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  2.56km/h thr=0.00 brk=0.38 str=-0.12 safe=0 progress=18.0% goal=326.89m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=18.0% goal=326.88m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.98km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=18.5% goal=324.77m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 11.58km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=19.5% goal=320.62m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.16 safe=0 progress=19.9% goal=319.10m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed=  5.79km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=20.0% goal=318.81m dL=0.10 ttc=637.34s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.55km/h thr=0.12 brk=0.00 str=-0.03 safe=0 progress=20.9% goal=315.20m dL=0.02 ttc=247.01s tl=None credit=0 reason=
[STEP] step=0800 speed=  8.26km/h thr=0.00 brk=0.34 str=-0.13 safe=0 progress=21.8% goal=311.74m dL=0.13 ttc=326.94s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.15 safe=0 progress=21.9% goal=311.31m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.04km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=22.2% goal=309.97m dL=0.04 ttc=134.12s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.40km/h thr=0.17 brk=0.00 str=-0.05 safe=0 progress=23.4% goal=305.36m dL=0.00 ttc=120.95s tl=None credit=0 reason=
[STEP] step=0880 speed= 13.71km/h thr=0.00 brk=0.11 str=-0.02 safe=0 progress=24.5% goal=300.99m dL=0.01 ttc=113.59s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.21 safe=0 progress=25.1% goal=298.44m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.88km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=25.1% goal=298.43m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.91km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=25.8% goal=295.81m dL=0.00 ttc=100.38s tl=None credit=0 reason=
[STEP] step=0960 speed= 12.49km/h thr=0.00 brk=0.19 str=-0.00 safe=0 progress=26.9% goal=291.38m dL=0.01 ttc=152.44s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.19 safe=0 progress=27.4% goal=289.35m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed=  2.46km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=27.4% goal=289.29m dL=0.00 ttc=883.17s tl=None credit=0 reason=
[STEP] step=1020 speed= 17.50km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=28.2% goal=286.24m dL=0.00 ttc=119.28s tl=None credit=0 reason=
[STEP] step=1040 speed= 11.91km/h thr=0.00 brk=0.15 str=-0.06 safe=0 progress=29.2% goal=281.94m dL=0.03 ttc=130.99s tl=None credit=0 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.25 safe=0 progress=29.7% goal=280.19m dL=0.02 ttc=266.83s tl=None credit=0 reason=
[STEP] step=1080 speed=  4.03km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=29.7% goal=280.04m dL=0.02 ttc=151.39s tl=None credit=0 reason=
[STEP] step=1100 speed= 17.84km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=30.6% goal=276.60m dL=0.01 ttc=64.76s tl=None credit=0 reason=
[STEP] step=1120 speed= 15.88km/h thr=0.42 brk=0.00 str=-0.05 safe=0 progress=31.7% goal=272.15m dL=0.01 ttc=23.96s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.12km/h thr=0.42 brk=0.00 str=-0.04 safe=0 progress=32.8% goal=267.73m dL=0.00 ttc=15.37s tl=None credit=0 reason=
[STEP] step=1160 speed= 16.62km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=33.9% goal=263.26m dL=0.02 ttc=12.43s tl=None credit=0 reason=
[STEP] step=1180 speed= 16.55km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=35.1% goal=258.73m dL=0.04 ttc=12.27s tl=None credit=0 reason=
[STEP] step=1200 speed= 16.12km/h thr=0.19 brk=0.00 str=+0.05 safe=0 progress=36.2% goal=254.24m dL=0.06 ttc=12.14s tl=None credit=0 reason=
[STEP] step=1220 speed= 16.25km/h thr=0.27 brk=0.00 str=-0.04 safe=0 progress=37.3% goal=249.75m dL=0.09 ttc=12.22s tl=None credit=0 reason=
[STEP] step=1240 speed= 16.77km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=38.5% goal=245.18m dL=0.11 ttc=13.41s tl=None credit=0 reason=
[STEP] step=1260 speed= 17.39km/h thr=0.25 brk=0.00 str=-0.04 safe=0 progress=39.7% goal=240.45m dL=0.14 ttc=19.82s tl=None credit=0 reason=
[STEP] step=1280 speed= 17.85km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=40.9% goal=235.55m dL=0.18 ttc=47.72s tl=None credit=0 reason=
[STEP] step=1300 speed= 18.00km/h thr=0.21 brk=0.00 str=-0.03 safe=0 progress=42.1% goal=230.55m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.00km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=43.4% goal=225.56m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed= 18.97km/h thr=0.40 brk=0.00 str=-0.04 safe=0 progress=44.7% goal=220.49m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 21.22km/h thr=0.34 brk=0.00 str=-0.02 safe=0 progress=46.1% goal=214.86m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 19.72km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=47.5% goal=209.10m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.27km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=48.8% goal=203.85m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 19.03km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=50.1% goal=198.70m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 19.66km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=51.5% goal=193.37m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed= 20.23km/h thr=0.35 brk=0.00 str=+0.02 safe=0 progress=52.9% goal=187.88m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed= 20.87km/h thr=0.35 brk=0.00 str=+0.02 safe=0 progress=54.3% goal=182.21m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 20.05km/h thr=0.00 brk=0.32 str=-0.06 safe=0 progress=55.7% goal=176.35m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed=  9.42km/h thr=0.00 brk=0.39 str=-0.11 safe=0 progress=56.7% goal=172.36m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.16 safe=0 progress=56.9% goal=171.65m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed= 10.27km/h thr=0.75 brk=0.00 str=-0.13 safe=1 progress=57.1% goal=170.80m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 14.56km/h thr=0.00 brk=0.40 str=-0.05 safe=0 progress=58.2% goal=166.71m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.19 safe=0 progress=58.8% goal=164.31m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  1.63km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=58.8% goal=164.27m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed= 15.77km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=59.5% goal=161.56m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed=  9.37km/h thr=0.00 brk=0.42 str=-0.16 safe=0 progress=60.4% goal=157.73m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=60.6% goal=157.06m dL=0.14 ttc=297.78s tl=None credit=0 reason=
[STEP] step=1700 speed= 11.33km/h thr=0.75 brk=0.00 str=-0.07 safe=1 progress=60.8% goal=156.05m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed= 14.11km/h thr=0.00 brk=0.46 str=-0.11 safe=0 progress=61.9% goal=151.88m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.14 safe=0 progress=62.4% goal=149.71m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed=  2.41km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=62.4% goal=149.65m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed= 15.99km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=63.2% goal=146.73m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed=  8.85km/h thr=0.00 brk=0.44 str=-0.15 safe=0 progress=64.1% goal=143.00m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1820 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=64.2% goal=142.47m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed= 12.12km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=64.5% goal=141.32m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed= 13.61km/h thr=0.00 brk=0.43 str=-0.12 safe=0 progress=65.6% goal=137.07m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.26 safe=0 progress=66.1% goal=135.06m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1900 speed=  2.99km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=66.1% goal=134.97m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed= 16.54km/h thr=0.30 brk=0.00 str=+0.09 safe=0 progress=66.9% goal=131.84m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed=  8.83km/h thr=0.00 brk=0.44 str=-0.08 safe=0 progress=67.9% goal=128.08m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed=  0.00km/h thr=0.00 brk=0.63 str=-0.23 safe=0 progress=68.0% goal=127.56m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed= 12.24km/h thr=0.72 brk=0.00 str=-0.06 safe=1 progress=68.3% goal=126.39m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed= 13.61km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=69.3% goal=122.14m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.22 safe=0 progress=69.8% goal=120.16m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed=  4.01km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=69.9% goal=120.01m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed= 16.80km/h thr=0.24 brk=0.00 str=+0.15 safe=0 progress=70.7% goal=116.67m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed=  8.23km/h thr=0.00 brk=0.44 str=-0.06 safe=0 progress=71.6% goal=113.04m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2100 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.28 safe=0 progress=71.8% goal=112.55m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2120 speed= 12.15km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=72.0% goal=111.39m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed= 16.27km/h thr=0.18 brk=0.00 str=-0.05 safe=0 progress=73.2% goal=106.91m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2160 speed= 13.72km/h thr=0.00 brk=0.16 str=-0.10 safe=0 progress=74.3% goal=102.56m dL=0.07 ttc=233.02s tl=None credit=0 reason=
[STEP] step=2180 speed= 18.91km/h thr=0.60 brk=0.00 str=+0.02 safe=0 progress=75.3% goal=98.49m dL=0.53 ttc=146.76s tl=None credit=0 reason=
[STEP] step=2200 speed= 19.48km/h thr=0.14 brk=0.00 str=+0.11 safe=0 progress=76.7% goal=92.93m dL=0.67 ttc=472.32s tl=None credit=0 reason=
[STEP] step=2220 speed= 15.38km/h thr=0.42 brk=0.00 str=-0.09 safe=0 progress=77.8% goal=88.34m dL=0.50 ttc=298.78s tl=None credit=0 reason=
[STEP] step=2240 speed= 18.08km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=79.0% goal=83.50m dL=0.68 ttc=489.99s tl=None credit=0 reason=
[STEP] step=2260 speed= 18.07km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=80.3% goal=78.49m dL=0.72 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed= 17.97km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=81.6% goal=73.48m dL=0.78 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed= 17.99km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=82.8% goal=68.48m dL=0.82 ttc=555.54s tl=None credit=0 reason=
[STEP] step=2320 speed= 17.99km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=84.1% goal=63.48m dL=0.87 ttc=61.74s tl=None credit=0 reason=
[STEP] step=2340 speed= 17.89km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=85.3% goal=58.49m dL=0.92 ttc=25.61s tl=Red credit=0 reason=
[STEP] step=2360 speed= 15.70km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=86.5% goal=53.85m dL=0.82 ttc=22.78s tl=Red credit=0 reason=
[STEP] step=2380 speed= 16.91km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=87.6% goal=49.34m dL=0.95 ttc=25.34s tl=None credit=0 reason=
[STEP] step=2400 speed= 18.01km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=88.8% goal=44.47m dL=1.05 ttc=28.89s tl=None credit=0 reason=
[STEP] step=2420 speed= 18.11km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=90.1% goal=39.46m dL=1.12 ttc=616.95s tl=None credit=0 reason=
[STEP] step=2440 speed= 18.09km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=91.4% goal=34.44m dL=1.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2460 speed= 18.02km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=92.6% goal=29.42m dL=1.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2480 speed= 18.21km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=93.9% goal=24.39m dL=1.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2498 speed= 18.70km/h thr=0.27 brk=0.00 str=+0.24 safe=0 progress=95.0% goal=19.85m dL=1.01 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=19 R=-11.83 steps=2498 success=1 progress=95.0% DS=95.02 intv=0.240 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 272 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 88 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=129.61m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=88 goal_idx=None route_len=398.5m spawn=(21.6,141.0,-0.0) yaw=0.3 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=398.45m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=398.45m dL=0.00 ttc=266.72s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=+0.00 safe=1 progress=0.4% goal=396.84m dL=0.00 ttc=703.14s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.63km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=1.5% goal=392.40m dL=0.05 ttc=155.11s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.15 safe=0 progress=2.0% goal=390.54m dL=0.07 ttc=139.12s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.93km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=2.0% goal=390.39m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.83km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=2.9% goal=386.94m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.33km/h thr=0.00 brk=0.29 str=-0.01 safe=0 progress=3.9% goal=382.92m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.19 safe=0 progress=4.2% goal=381.83m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.73km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=4.3% goal=381.35m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.36km/h thr=0.00 brk=0.16 str=+0.04 safe=0 progress=5.3% goal=377.23m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.69km/h thr=0.00 brk=0.33 str=-0.00 safe=0 progress=6.2% goal=373.65m dL=0.04 ttc=202.47s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.18 safe=0 progress=6.4% goal=373.10m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.17km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=6.7% goal=371.93m dL=0.02 ttc=150.95s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.14km/h thr=0.00 brk=0.24 str=-0.03 safe=0 progress=7.8% goal=367.39m dL=0.05 ttc=139.95s tl=None credit=0 reason=
[STEP] step=0300 speed=  6.68km/h thr=0.00 brk=0.38 str=-0.01 safe=0 progress=8.6% goal=364.38m dL=0.03 ttc=354.72s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=8.6% goal=364.31m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.52km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=9.1% goal=362.39m dL=0.02 ttc=189.36s tl=None credit=0 reason=
[STEP] step=0360 speed= 12.00km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=10.1% goal=358.22m dL=0.16 ttc=473.73s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.12 safe=0 progress=10.5% goal=356.46m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  3.93km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=10.6% goal=356.32m dL=0.17 ttc=516.85s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.33km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=11.4% goal=353.06m dL=0.01 ttc=123.51s tl=None credit=0 reason=
[STEP] step=0440 speed=  8.97km/h thr=0.00 brk=0.34 str=-0.04 safe=0 progress=12.3% goal=349.41m dL=0.07 ttc=314.85s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.16 safe=0 progress=12.5% goal=348.76m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 11.31km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=12.7% goal=347.76m dL=0.04 ttc=124.09s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.04km/h thr=0.00 brk=0.28 str=+0.04 safe=0 progress=13.8% goal=343.62m dL=0.00 ttc=114.10s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.12 safe=0 progress=14.4% goal=341.15m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.89km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=14.4% goal=341.14m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 15.70km/h thr=0.42 brk=0.00 str=+0.08 safe=1 progress=15.0% goal=338.61m dL=0.01 ttc=90.18s tl=None credit=0 reason=
[STEP] step=0580 speed= 10.74km/h thr=0.00 brk=0.30 str=-0.03 safe=0 progress=16.0% goal=334.57m dL=0.10 ttc=103.43s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.15 safe=0 progress=16.3% goal=333.36m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed=  7.55km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=16.5% goal=332.88m dL=0.09 ttc=88.20s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.82km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=17.4% goal=329.05m dL=0.03 ttc=44.34s tl=None credit=0 reason=
[STEP] step=0660 speed=  7.18km/h thr=0.00 brk=0.36 str=-0.09 safe=0 progress=18.2% goal=325.90m dL=0.11 ttc=73.17s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.17 safe=0 progress=18.2% goal=325.75m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.28km/h thr=0.42 brk=0.00 str=-0.15 safe=1 progress=18.7% goal=324.03m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 12.46km/h thr=0.00 brk=0.29 str=-0.02 safe=0 progress=19.7% goal=319.80m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.15 safe=0 progress=20.2% goal=317.90m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed=  3.12km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=20.2% goal=317.80m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.59km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=21.0% goal=314.67m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed=  9.70km/h thr=0.00 brk=0.31 str=-0.03 safe=0 progress=22.0% goal=310.83m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.16 safe=0 progress=22.2% goal=309.93m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed=  9.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=22.4% goal=309.22m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 15.39km/h thr=0.00 brk=0.30 str=+0.02 safe=0 progress=23.4% goal=305.10m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed=  6.68km/h thr=0.00 brk=0.38 str=-0.11 safe=0 progress=24.2% goal=302.07m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=24.2% goal=302.01m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 14.78km/h thr=0.42 brk=0.00 str=-0.05 safe=1 progress=24.7% goal=300.09m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 12.17km/h thr=0.00 brk=0.30 str=-0.03 safe=0 progress=25.8% goal=295.84m dL=0.07 ttc=654.88s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.14 safe=0 progress=26.2% goal=294.11m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed=  3.95km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=26.2% goal=293.96m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 17.10km/h thr=0.24 brk=0.00 str=-0.00 safe=0 progress=27.1% goal=290.60m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.38km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=28.2% goal=286.05m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed=  9.14km/h thr=0.00 brk=0.33 str=-0.08 safe=0 progress=29.1% goal=282.43m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.24 safe=0 progress=29.3% goal=281.62m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed=  9.36km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=29.5% goal=280.90m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 16.78km/h thr=0.06 brk=0.00 str=-0.04 safe=0 progress=30.6% goal=276.56m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 16.51km/h thr=0.00 brk=0.08 str=+0.00 safe=0 progress=31.7% goal=272.16m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 15.95km/h thr=0.12 brk=0.00 str=+0.07 safe=0 progress=32.8% goal=267.74m dL=0.00 ttc=194.03s tl=None credit=0 reason=
[STEP] step=1160 speed= 16.07km/h thr=0.42 brk=0.00 str=-0.06 safe=0 progress=33.9% goal=263.28m dL=0.01 ttc=58.89s tl=None credit=0 reason=
[STEP] step=1180 speed= 16.47km/h thr=0.16 brk=0.00 str=-0.01 safe=0 progress=35.1% goal=258.76m dL=0.04 ttc=57.37s tl=None credit=0 reason=
[STEP] step=1200 speed= 16.34km/h thr=0.19 brk=0.00 str=-0.03 safe=0 progress=36.2% goal=254.24m dL=0.05 ttc=57.58s tl=None credit=0 reason=
[STEP] step=1220 speed= 16.23km/h thr=0.28 brk=0.00 str=-0.02 safe=0 progress=37.3% goal=249.76m dL=0.10 ttc=58.05s tl=None credit=0 reason=
[STEP] step=1240 speed= 16.87km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=38.5% goal=245.17m dL=0.10 ttc=55.88s tl=None credit=0 reason=
[STEP] step=1260 speed= 17.30km/h thr=0.13 brk=0.00 str=+0.13 safe=0 progress=39.7% goal=240.41m dL=0.13 ttc=58.90s tl=Green credit=0 reason=
[STEP] step=1280 speed= 17.13km/h thr=0.41 brk=0.00 str=-0.08 safe=0 progress=40.8% goal=235.88m dL=0.10 ttc=53.15s tl=Green credit=0 reason=
[STEP] step=1300 speed= 18.05km/h thr=0.33 brk=0.00 str=+0.03 safe=0 progress=42.1% goal=230.88m dL=0.13 ttc=54.43s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.26km/h thr=0.35 brk=0.00 str=+0.03 safe=0 progress=43.3% goal=225.79m dL=0.12 ttc=54.71s tl=None credit=0 reason=
[STEP] step=1340 speed= 18.65km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=44.6% goal=220.58m dL=0.10 ttc=55.53s tl=None credit=0 reason=
[STEP] step=1360 speed= 18.36km/h thr=0.26 brk=0.00 str=-0.04 safe=0 progress=45.9% goal=215.46m dL=0.06 ttc=55.10s tl=None credit=0 reason=
[STEP] step=1380 speed= 18.28km/h thr=0.31 brk=0.00 str=-0.03 safe=0 progress=47.2% goal=210.37m dL=0.08 ttc=55.13s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.83km/h thr=0.29 brk=0.00 str=-0.07 safe=0 progress=48.5% goal=205.18m dL=0.04 ttc=56.08s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.98km/h thr=0.29 brk=0.00 str=-0.04 safe=0 progress=49.8% goal=199.87m dL=0.04 ttc=57.13s tl=None credit=0 reason=
[STEP] step=1440 speed= 19.24km/h thr=0.29 brk=0.00 str=-0.06 safe=0 progress=51.2% goal=194.49m dL=0.03 ttc=57.68s tl=None credit=0 reason=
[STEP] step=1460 speed= 19.95km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=52.6% goal=189.00m dL=0.02 ttc=58.60s tl=None credit=0 reason=
[STEP] step=1480 speed= 20.54km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=54.0% goal=183.32m dL=0.02 ttc=61.23s tl=None credit=0 reason=
[STEP] step=1500 speed= 20.83km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=55.5% goal=177.48m dL=0.05 ttc=62.64s tl=None credit=0 reason=
[STEP] step=1520 speed= 21.06km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=56.9% goal=171.65m dL=0.01 ttc=80.29s tl=None credit=0 reason=
[STEP] step=1540 speed= 11.75km/h thr=0.00 brk=0.39 str=-0.06 safe=0 progress=58.1% goal=167.00m dL=0.17 ttc=127.44s tl=None credit=0 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.17 safe=0 progress=58.4% goal=165.57m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed=  5.88km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=58.5% goal=165.27m dL=0.14 ttc=200.01s tl=None credit=0 reason=
[STEP] step=1600 speed= 16.38km/h thr=0.12 brk=0.00 str=+0.08 safe=0 progress=59.4% goal=161.67m dL=0.02 ttc=98.65s tl=None credit=0 reason=
[STEP] step=1620 speed=  7.16km/h thr=0.00 brk=0.43 str=-0.10 safe=0 progress=60.3% goal=158.38m dL=0.13 ttc=149.89s tl=None credit=0 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.18 safe=0 progress=60.3% goal=158.23m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed= 14.11km/h thr=0.42 brk=0.00 str=-0.10 safe=1 progress=60.7% goal=156.53m dL=0.02 ttc=66.62s tl=None credit=0 reason=
[STEP] step=1680 speed= 11.93km/h thr=0.00 brk=0.42 str=-0.10 safe=0 progress=61.8% goal=152.37m dL=0.15 ttc=77.87s tl=None credit=0 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.13 safe=0 progress=62.1% goal=150.96m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed=  6.64km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=62.2% goal=150.59m dL=0.10 ttc=114.64s tl=None credit=0 reason=
[STEP] step=1740 speed= 16.39km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=63.2% goal=146.83m dL=0.10 ttc=56.02s tl=None credit=0 reason=
[STEP] step=1760 speed=  5.46km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=64.0% goal=143.63m dL=0.13 ttc=126.23s tl=None credit=0 reason=
[STEP] step=1780 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=64.0% goal=143.59m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed= 15.02km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=64.5% goal=141.47m dL=0.03 ttc=47.15s tl=None credit=0 reason=
[STEP] step=1820 speed= 11.03km/h thr=0.00 brk=0.44 str=-0.12 safe=0 progress=65.5% goal=137.36m dL=0.13 ttc=93.98s tl=None credit=0 reason=
[STEP] step=1840 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=65.8% goal=136.20m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1860 speed=  7.65km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=65.9% goal=135.71m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1880 speed= 16.03km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=66.9% goal=131.86m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1900 speed=  0.91km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=67.7% goal=128.86m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1920 speed=  0.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=67.7% goal=128.85m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1940 speed= 15.30km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=68.2% goal=126.53m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1960 speed= 10.55km/h thr=0.00 brk=0.44 str=-0.12 safe=0 progress=69.3% goal=122.49m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1980 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=69.5% goal=121.49m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2000 speed=  8.46km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=69.7% goal=120.90m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2020 speed= 15.77km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=70.7% goal=116.90m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2040 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=71.4% goal=114.10m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2060 speed=  0.94km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=71.4% goal=114.09m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2080 speed= 15.44km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=72.0% goal=111.56m dL=0.01 ttc=308.84s tl=None credit=0 reason=
[STEP] step=2100 speed=  9.84km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=73.0% goal=107.64m dL=0.11 ttc=483.17s tl=None credit=0 reason=
[STEP] step=2120 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=73.2% goal=106.86m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2140 speed= 10.41km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=73.4% goal=106.00m dL=0.03 ttc=211.09s tl=None credit=0 reason=
[STEP] step=2160 speed= 16.69km/h thr=0.15 brk=0.00 str=-0.14 safe=0 progress=74.5% goal=101.62m dL=0.05 ttc=76.88s tl=None credit=0 reason=
[STEP] step=2180 speed= 18.05km/h thr=0.53 brk=0.00 str=-0.05 safe=0 progress=75.6% goal=97.05m dL=0.28 ttc=63.76s tl=None credit=0 reason=
[STEP] step=2200 speed= 20.31km/h thr=0.22 brk=0.00 str=+0.10 safe=0 progress=77.0% goal=91.65m dL=0.57 ttc=98.99s tl=None credit=0 reason=
[STEP] step=2220 speed= 15.84km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=78.2% goal=86.67m dL=0.43 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2240 speed= 18.14km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=79.5% goal=81.85m dL=0.67 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2260 speed= 17.93km/h thr=0.27 brk=0.00 str=+0.05 safe=0 progress=80.7% goal=76.82m dL=0.73 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed= 17.95km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=82.0% goal=71.80m dL=0.79 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed= 17.63km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=83.2% goal=66.80m dL=0.84 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2320 speed= 18.01km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=84.5% goal=61.80m dL=0.88 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2340 speed= 18.01km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=85.7% goal=56.81m dL=0.93 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2360 speed= 18.03km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=87.0% goal=51.81m dL=0.99 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2380 speed= 18.06km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=88.3% goal=46.81m dL=1.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2400 speed= 18.05km/h thr=0.29 brk=0.00 str=+0.02 safe=0 progress=89.5% goal=41.80m dL=1.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2420 speed= 18.09km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=90.8% goal=36.80m dL=1.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2440 speed= 18.09km/h thr=0.29 brk=0.00 str=+0.02 safe=0 progress=92.0% goal=31.78m dL=1.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2460 speed= 18.16km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=93.3% goal=26.74m dL=1.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2480 speed= 18.12km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=94.6% goal=21.70m dL=1.27 ttc=469.49s tl=None credit=0 reason=
[STEP] step=2488 speed= 18.15km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=95.1% goal=19.69m dL=1.29 ttc=228.40s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=20 R=-48.73 steps=2488 success=1 progress=95.1% DS=95.06 intv=0.241 reason=goal
[Town10HD_Opt_zeroshot_source_agent] avgR=100.75 SR=65.0% avgDS=61.77 avgIS=0.650 intv=0.158 coll/km=0.0000 off/km=0.1711 to/km=1.0265
==========================================================================================
Final summary for Town10HD_Opt: SR=65.0% DS=61.77 IS=0.650 coll/km=0.0000 off/km=0.1711 to/km=1.0265
Episodes CSV: /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent.csv
Summary CSV : /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_summary.csv
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 275 (sensor.other.collision) 
