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: 200m ± 12m
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=57.66% dL=3.50m
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=120 goal_idx=None route_len=202.5m 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=57.7% goal=85.73m dL=3.50 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.67km/h thr=0.49 brk=0.00 str=-0.94 safe=0 progress=57.7% goal=85.72m dL=3.50 ttc=72.21s tl=None credit=0 reason=
[STEP] step=0040 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.90 safe=0 progress=57.9% goal=85.14m dL=3.04 ttc=23.83s tl=None credit=0 reason=
[STEP] step=0060 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.90 safe=0 progress=57.9% goal=85.14m dL=3.04 ttc=18.22s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.90 safe=0 progress=57.9% goal=85.14m dL=3.04 ttc=19.45s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.90 safe=0 progress=57.9% goal=85.14m dL=3.04 ttc=12.79s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.90 safe=0 progress=57.9% goal=85.14m dL=3.04 ttc=8.87s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.11km/h thr=0.12 brk=0.00 str=-0.91 safe=0 progress=57.9% goal=85.15m dL=3.04 ttc=7.97s tl=None credit=0 reason=
[STEP] step=0160 speed=  4.86km/h thr=0.05 brk=0.00 str=-0.75 safe=0 progress=58.2% goal=84.72m dL=2.57 ttc=8.70s tl=None credit=0 reason=
[STEP] step=0180 speed=  4.37km/h thr=0.19 brk=0.00 str=-0.61 safe=0 progress=58.3% goal=84.42m dL=2.18 ttc=7.77s tl=None credit=0 reason=
[STEP] step=0200 speed=  6.31km/h thr=0.08 brk=0.00 str=+0.48 safe=0 progress=58.9% goal=83.31m dL=1.17 ttc=8.74s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.53km/h thr=0.24 brk=0.00 str=+0.37 safe=0 progress=59.8% goal=81.37m dL=0.59 ttc=11.03s tl=None credit=0 reason=
[STEP] step=0240 speed= 14.52km/h thr=0.42 brk=0.00 str=+0.18 safe=0 progress=61.3% goal=78.35m dL=0.23 ttc=20.11s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.90km/h thr=0.32 brk=0.00 str=-0.05 safe=0 progress=63.6% goal=73.76m dL=0.03 ttc=20.93s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.62km/h thr=0.00 brk=0.48 str=+0.07 safe=0 progress=65.7% goal=69.38m dL=0.12 ttc=16.85s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.41km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=65.7% goal=69.37m dL=0.12 ttc=15.86s tl=None credit=0 reason=
[STEP] step=0320 speed= 15.26km/h thr=0.42 brk=0.00 str=+0.05 safe=1 progress=66.9% goal=67.05m dL=0.05 ttc=17.62s tl=None credit=0 reason=
[STEP] step=0340 speed= 11.31km/h thr=0.00 brk=0.27 str=+0.05 safe=0 progress=68.9% goal=62.95m dL=0.03 ttc=19.32s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.09 safe=0 progress=69.6% goal=61.47m dL=0.01 ttc=18.34s tl=None credit=0 reason=
[STEP] step=0380 speed=  5.89km/h thr=0.75 brk=0.00 str=+0.07 safe=1 progress=69.8% goal=61.17m dL=0.00 ttc=22.31s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.35km/h thr=0.12 brk=0.00 str=+0.07 safe=0 progress=71.6% goal=57.56m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed=  7.60km/h thr=0.00 brk=0.43 str=+0.05 safe=0 progress=73.2% goal=54.20m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.14 safe=0 progress=73.4% goal=53.92m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.68km/h thr=0.45 brk=0.00 str=+0.01 safe=1 progress=74.1% goal=52.40m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.10km/h thr=0.00 brk=0.34 str=+0.08 safe=0 progress=76.2% goal=48.14m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.15 safe=0 progress=77.3% goal=45.96m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  1.69km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=77.3% goal=45.92m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.60km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=78.7% goal=43.21m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 11.15km/h thr=0.00 brk=0.28 str=+0.03 safe=0 progress=80.7% goal=39.16m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.05 safe=0 progress=81.4% goal=37.64m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  4.94km/h thr=0.75 brk=0.00 str=+0.13 safe=1 progress=81.5% goal=37.43m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.81km/h thr=0.18 brk=0.00 str=+0.10 safe=0 progress=83.2% goal=34.07m dL=0.06 ttc=285.89s tl=None credit=0 reason=
[STEP] step=0640 speed=  8.49km/h thr=0.00 brk=0.27 str=+0.12 safe=0 progress=84.9% goal=30.61m dL=0.02 ttc=384.24s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.38 str=+0.11 safe=0 progress=85.2% goal=29.98m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 10.47km/h thr=0.42 brk=0.00 str=+0.03 safe=1 progress=85.7% goal=29.00m dL=0.06 ttc=313.47s tl=None credit=0 reason=
[STEP] step=0700 speed= 12.50km/h thr=0.00 brk=0.27 str=+0.05 safe=0 progress=87.5% goal=25.33m dL=0.06 ttc=162.13s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.08 safe=0 progress=88.5% goal=23.20m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  1.69km/h thr=0.75 brk=0.00 str=+0.11 safe=1 progress=88.6% goal=23.17m dL=0.08 ttc=766.90s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.73km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=89.8% goal=20.67m dL=0.08 ttc=91.05s tl=None credit=0 reason=
[STEP] step=0780 speed=  9.46km/h thr=0.00 brk=0.23 str=+0.12 safe=0 progress=91.5% goal=17.13m dL=0.06 ttc=94.51s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.03 safe=0 progress=92.0% goal=16.15m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  8.50km/h thr=0.68 brk=0.00 str=-0.04 safe=1 progress=92.3% goal=15.56m dL=0.09 ttc=117.66s tl=None credit=0 reason=
[STEP] step=0835 speed= 14.47km/h thr=0.25 brk=0.00 str=+0.22 safe=0 progress=93.6% goal=13.00m dL=0.10 ttc=42.66s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=01 R=-21.22 steps=835 success=1 progress=93.6% DS=93.58 intv=0.240 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=01 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep01.csv (835 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 135 (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=100.00% dL=38.39m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=67 goal_idx=None route_len=197.0m 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=197.00m 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=197.00m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.24km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=195.39m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 11.99km/h thr=0.00 brk=0.30 str=-0.02 safe=0 progress=3.0% goal=191.14m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=8 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=28 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.79 str=-0.10 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=48 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=68 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=88 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.74 str=-0.14 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=108 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.03 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=128 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.03 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=148 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=168 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.03 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=188 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=208 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.74 str=-0.14 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=228 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=248 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=268 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.79 str=-0.10 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=288 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.03 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=308 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=328 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=348 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.03 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=368 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.79 str=-0.10 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=388 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=408 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=428 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.03 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=448 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.79 str=-0.10 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=468 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=488 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=508 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.72 str=-0.06 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=528 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.71 str=-0.02 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Red credit=548 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.00 safe=0 progress=3.7% goal=189.62m dL=0.06 ttc=999.00s tl=Green credit=544 reason=
[STEP] step=0660 speed=  9.17km/h thr=0.56 brk=0.00 str=-0.12 safe=1 progress=4.1% goal=188.91m dL=0.03 ttc=999.00s tl=Green credit=524 reason=
[STEP] step=0680 speed= 13.95km/h thr=0.00 brk=0.05 str=+0.10 safe=0 progress=5.9% goal=185.31m dL=0.26 ttc=999.00s tl=Green credit=504 reason=
[STEP] step=0700 speed=  9.08km/h thr=0.27 brk=0.00 str=+0.37 safe=0 progress=7.5% goal=182.26m dL=0.27 ttc=999.00s tl=Green credit=484 reason=
[STEP] step=0720 speed= 10.31km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=8.8% goal=179.76m dL=0.17 ttc=999.00s tl=None credit=464 reason=
[STEP] step=0740 speed=  8.30km/h thr=0.37 brk=0.00 str=+0.22 safe=0 progress=10.0% goal=177.30m dL=0.15 ttc=999.00s tl=None credit=444 reason=
[STEP] step=0760 speed=  8.08km/h thr=0.32 brk=0.00 str=+0.23 safe=0 progress=11.2% goal=174.89m dL=0.14 ttc=999.00s tl=None credit=424 reason=
[STEP] step=0780 speed=  8.00km/h thr=0.15 brk=0.00 str=+0.07 safe=0 progress=12.4% goal=172.64m dL=0.18 ttc=999.00s tl=None credit=404 reason=
[STEP] step=0800 speed=  7.90km/h thr=0.16 brk=0.00 str=+0.21 safe=0 progress=13.5% goal=170.49m dL=0.17 ttc=999.00s tl=None credit=384 reason=
[STEP] step=0820 speed=  7.90km/h thr=0.16 brk=0.00 str=+0.29 safe=0 progress=14.6% goal=168.33m dL=0.16 ttc=999.00s tl=None credit=364 reason=
[STEP] step=0840 speed=  8.00km/h thr=0.22 brk=0.00 str=+0.33 safe=0 progress=15.7% goal=166.15m dL=0.06 ttc=999.00s tl=None credit=344 reason=
[STEP] step=0860 speed= 13.10km/h thr=0.46 brk=0.00 str=+0.09 safe=0 progress=17.1% goal=163.32m dL=0.00 ttc=999.00s tl=None credit=324 reason=
[STEP] step=0880 speed= 14.75km/h thr=0.00 brk=0.19 str=+0.13 safe=0 progress=19.3% goal=159.03m dL=0.11 ttc=999.00s tl=None credit=304 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.63 str=-0.16 safe=0 progress=20.6% goal=156.41m dL=0.04 ttc=999.00s tl=None credit=284 reason=
[STEP] step=0920 speed=  0.71km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=20.6% goal=156.39m dL=0.04 ttc=999.00s tl=None credit=264 reason=
[STEP] step=0940 speed= 16.82km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=21.9% goal=153.79m dL=0.02 ttc=999.00s tl=None credit=244 reason=
[STEP] step=0960 speed= 12.62km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=24.2% goal=149.33m dL=0.07 ttc=999.00s tl=None credit=224 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.24 safe=0 progress=25.0% goal=147.65m dL=0.06 ttc=999.00s tl=None credit=204 reason=
[STEP] step=1000 speed=  4.89km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=25.2% goal=147.44m dL=0.05 ttc=999.00s tl=None credit=184 reason=
[STEP] step=1020 speed= 17.83km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=27.0% goal=143.82m dL=0.01 ttc=999.00s tl=None credit=164 reason=
[STEP] step=1040 speed= 11.54km/h thr=0.00 brk=0.40 str=-0.03 safe=0 progress=29.2% goal=139.53m dL=0.08 ttc=999.00s tl=None credit=144 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.63 str=-0.25 safe=0 progress=29.8% goal=138.29m dL=0.06 ttc=999.00s tl=None credit=124 reason=
[STEP] step=1080 speed=  7.61km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=30.0% goal=137.81m dL=0.05 ttc=999.00s tl=None credit=104 reason=
[STEP] step=1100 speed= 17.73km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=32.1% goal=133.71m dL=0.00 ttc=999.00s tl=None credit=84 reason=
[STEP] step=1120 speed= 17.78km/h thr=0.27 brk=0.00 str=-0.09 safe=0 progress=34.6% goal=128.81m dL=0.03 ttc=999.00s tl=None credit=64 reason=
[STEP] step=1140 speed= 19.57km/h thr=0.56 brk=0.00 str=-0.03 safe=0 progress=37.2% goal=123.74m dL=0.20 ttc=999.00s tl=None credit=44 reason=
[STEP] step=1160 speed= 22.37km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=40.2% goal=117.74m dL=0.15 ttc=999.00s tl=None credit=24 reason=
[STEP] step=1180 speed= 19.72km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=43.2% goal=111.89m dL=0.04 ttc=999.00s tl=None credit=4 reason=
[STEP] step=1200 speed= 20.17km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=46.0% goal=106.46m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed= 22.15km/h thr=0.35 brk=0.00 str=-0.04 safe=0 progress=49.0% goal=100.56m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed= 22.73km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=52.1% goal=94.31m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed= 23.79km/h thr=0.39 brk=0.00 str=-0.00 safe=0 progress=55.4% goal=87.86m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed= 24.52km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=58.8% goal=81.13m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 24.03km/h thr=0.23 brk=0.00 str=+0.12 safe=0 progress=62.3% goal=74.33m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 11.24km/h thr=0.00 brk=0.32 str=+0.02 safe=0 progress=65.3% goal=68.45m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.07 safe=0 progress=65.3% goal=68.28m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 13.76km/h thr=0.42 brk=0.00 str=+0.09 safe=1 progress=66.2% goal=66.58m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 11.91km/h thr=0.00 brk=0.34 str=+0.11 safe=0 progress=68.3% goal=62.50m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.04 safe=0 progress=69.1% goal=60.85m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed=  4.84km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=69.2% goal=60.63m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 16.14km/h thr=0.18 brk=0.00 str=+0.10 safe=0 progress=71.0% goal=57.22m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed=  8.20km/h thr=0.00 brk=0.32 str=+0.13 safe=0 progress=72.7% goal=53.76m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.00 safe=0 progress=72.9% goal=53.33m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed= 12.75km/h thr=0.48 brk=0.00 str=+0.17 safe=1 progress=73.6% goal=51.98m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 12.90km/h thr=0.00 brk=0.31 str=+0.08 safe=0 progress=75.7% goal=47.87m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.02 safe=0 progress=76.7% goal=45.80m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed=  2.26km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=76.8% goal=45.75m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed= 15.60km/h thr=0.36 brk=0.00 str=+0.10 safe=0 progress=78.2% goal=42.87m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed=  9.31km/h thr=0.00 brk=0.33 str=+0.04 safe=0 progress=80.1% goal=39.15m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.05 safe=0 progress=80.5% goal=38.35m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed= 10.22km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=81.0% goal=37.50m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed= 14.40km/h thr=0.00 brk=0.24 str=+0.13 safe=0 progress=83.0% goal=33.46m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed=  0.02km/h thr=0.00 brk=0.43 str=+0.10 safe=0 progress=84.4% goal=30.74m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1700 speed=  0.30km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=84.4% goal=30.73m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed= 13.98km/h thr=0.42 brk=0.00 str=+0.14 safe=1 progress=85.5% goal=28.49m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed= 10.31km/h thr=0.00 brk=0.26 str=+0.09 safe=0 progress=87.5% goal=24.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.00 safe=0 progress=88.0% goal=23.55m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed=  7.50km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=88.3% goal=23.07m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed= 14.31km/h thr=0.06 brk=0.00 str=+0.02 safe=0 progress=90.0% goal=19.62m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1820 speed= 10.62km/h thr=0.16 brk=0.00 str=-0.05 safe=0 progress=91.7% goal=16.28m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1840 speed= 14.48km/h thr=0.44 brk=0.00 str=-0.02 safe=0 progress=93.4% goal=13.10m dL=0.47 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1841 speed= 14.81km/h thr=0.44 brk=0.00 str=-0.08 safe=0 progress=93.5% goal=12.90m dL=0.53 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=02 R=243.82 steps=1841 success=1 progress=93.5% DS=93.45 intv=0.163 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=02 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep02.csv (1841 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 137 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=31.89% dL=11.50m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=0 goal_idx=None route_len=210.7m spawn=(-64.6,24.5,-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=+0.06 safe=0 progress=0.0% goal=210.71m 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=210.71m 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=0.8% goal=209.10m dL=0.00 ttc=67.24s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.34km/h thr=0.38 brk=0.00 str=-0.15 safe=0 progress=2.9% goal=204.55m dL=0.45 ttc=50.65s tl=None credit=0 reason=
[STEP] step=0080 speed= 13.50km/h thr=0.00 brk=0.03 str=+0.01 safe=0 progress=4.9% goal=200.30m dL=1.43 ttc=73.10s tl=None credit=0 reason=
[STEP] step=0100 speed= 10.59km/h thr=0.17 brk=0.00 str=+0.10 safe=0 progress=6.4% goal=197.16m dL=1.59 ttc=58.51s tl=None credit=0 reason=
[STEP] step=0120 speed= 10.26km/h thr=0.17 brk=0.00 str=+0.20 safe=0 progress=7.8% goal=194.28m dL=1.39 ttc=24.64s tl=None credit=0 reason=
[STEP] step=0140 speed= 12.06km/h thr=0.13 brk=0.00 str=-0.02 safe=0 progress=9.2% goal=191.34m dL=0.87 ttc=11.84s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.45km/h thr=0.42 brk=0.00 str=-0.13 safe=0 progress=10.9% goal=187.78m dL=0.44 ttc=9.47s tl=None credit=0 reason=
[STEP] step=0180 speed= 11.02km/h thr=0.00 brk=0.32 str=+0.01 safe=0 progress=12.8% goal=183.68m dL=0.16 ttc=8.23s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.21 safe=0 progress=13.4% goal=182.43m dL=0.07 ttc=7.36s tl=None credit=0 reason=
[STEP] step=0220 speed=  6.72km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=13.6% goal=182.05m dL=0.07 ttc=6.57s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.74km/h thr=0.00 brk=0.08 str=-0.00 safe=0 progress=15.5% goal=178.06m dL=0.05 ttc=6.57s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.49km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=17.5% goal=173.74m dL=0.06 ttc=10.45s tl=None credit=0 reason=
[STEP] step=0280 speed= 11.65km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=19.5% goal=169.71m dL=0.03 ttc=9.65s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.74km/h thr=0.24 brk=0.00 str=+0.00 safe=0 progress=21.3% goal=165.80m dL=0.08 ttc=29.49s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.70km/h thr=0.20 brk=0.00 str=+0.00 safe=0 progress=23.5% goal=161.28m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.11km/h thr=0.21 brk=0.00 str=-0.02 safe=0 progress=25.6% goal=156.77m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.44km/h thr=0.25 brk=0.00 str=-0.04 safe=0 progress=27.7% goal=152.30m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.83km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=29.9% goal=147.76m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.31km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=32.0% goal=143.23m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.08km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=34.1% goal=138.85m dL=0.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 18.14km/h thr=0.15 brk=0.00 str=+0.16 safe=0 progress=36.4% goal=134.04m dL=0.42 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.82km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=38.5% goal=129.55m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.47km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=40.7% goal=125.03m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 16.24km/h thr=0.25 brk=0.00 str=+0.05 safe=0 progress=42.8% goal=120.51m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 17.05km/h thr=0.34 brk=0.00 str=+0.04 safe=0 progress=45.0% goal=115.92m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 18.14km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=47.3% goal=110.98m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 18.13km/h thr=0.39 brk=0.00 str=+0.04 safe=0 progress=49.7% goal=105.92m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 18.90km/h thr=0.32 brk=0.00 str=+0.04 safe=0 progress=52.2% goal=100.76m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 18.09km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=54.6% goal=95.64m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 18.20km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=57.0% goal=90.62m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 19.11km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=59.4% goal=85.45m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 20.20km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=62.0% goal=79.98m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 20.81km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=64.7% goal=74.28m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 19.64km/h thr=0.18 brk=0.00 str=+0.06 safe=0 progress=67.5% goal=68.52m dL=0.15 ttc=999.00s tl=Green credit=0 reason=
[STEP] step=0720 speed= 20.83km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=70.1% goal=63.08m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.20 safe=0 progress=71.9% goal=59.30m dL=0.02 ttc=25.66s tl=None credit=0 reason=
[STEP] step=0760 speed=  3.14km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=71.9% goal=59.20m dL=0.02 ttc=28.39s tl=None credit=0 reason=
[STEP] step=0780 speed= 13.07km/h thr=0.12 brk=0.00 str=+0.22 safe=0 progress=73.2% goal=56.53m dL=0.08 ttc=56.03s tl=None credit=0 reason=
[STEP] step=0800 speed=  4.60km/h thr=0.00 brk=0.21 str=-0.04 safe=0 progress=74.4% goal=53.87m dL=0.25 ttc=29.59s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=24.09s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=24.24s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=24.43s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=24.85s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=25.58s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=26.74s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=28.57s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=31.35s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=35.03s tl=None credit=0 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=35.41s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=31.18s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=23.98s tl=None credit=0 reason=
[STEP] step=1050 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.37 safe=0 progress=74.4% goal=53.84m dL=0.25 ttc=20.29s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=03 R=67.63 steps=1050 success=0 progress=74.4% DS=0.00 intv=0.069 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=03 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep03.csv (1050 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 141 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 83 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=13.23% dL=123.94m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=83 goal_idx=None route_len=210.7m spawn=(-27.2,137.0,-0.0) yaw=0.4 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=0.0% goal=210.74m 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=210.74m 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=0.8% goal=209.13m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.67km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=2.9% goal=204.68m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.10 safe=0 progress=3.7% goal=202.95m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.91km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=3.8% goal=202.73m dL=0.03 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=5.5% goal=199.09m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.68km/h thr=0.00 brk=0.39 str=-0.07 safe=0 progress=7.4% goal=195.18m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.09 safe=0 progress=7.7% goal=194.43m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 10.28km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=8.1% goal=193.57m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.90km/h thr=0.00 brk=0.20 str=+0.00 safe=0 progress=10.2% goal=189.16m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  5.22km/h thr=0.00 brk=0.51 str=-0.08 safe=0 progress=11.7% goal=186.01m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.07km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=11.8% goal=185.98m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.27km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=12.8% goal=183.80m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.08km/h thr=0.00 brk=0.21 str=-0.01 safe=0 progress=14.9% goal=179.24m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.66 str=-0.19 safe=0 progress=15.8% goal=177.36m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  3.11km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=15.9% goal=177.26m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.49km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=17.4% goal=174.01m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.10km/h thr=0.00 brk=0.37 str=+0.03 safe=0 progress=19.3% goal=170.05m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.66 str=-0.14 safe=0 progress=19.7% goal=169.21m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 10.46km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=20.1% goal=168.34m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.23km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=22.2% goal=163.90m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  7.65km/h thr=0.00 brk=0.46 str=-0.04 safe=0 progress=23.8% goal=160.57m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.66 str=-0.13 safe=0 progress=23.9% goal=160.32m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.01km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=24.7% goal=158.78m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.97km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=26.9% goal=154.15m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.10 safe=0 progress=28.2% goal=151.33m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.22km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=28.2% goal=151.32m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.53km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=29.3% goal=148.94m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.56km/h thr=0.25 brk=0.00 str=+0.04 safe=0 progress=31.6% goal=144.16m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 16.37km/h thr=0.33 brk=0.00 str=+0.04 safe=0 progress=33.7% goal=139.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 18.15km/h thr=0.38 brk=0.00 str=+0.04 safe=0 progress=36.0% goal=134.84m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 20.12km/h thr=0.38 brk=0.00 str=+0.07 safe=0 progress=38.5% goal=129.59m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.51km/h thr=0.00 brk=0.08 str=+0.17 safe=0 progress=41.1% goal=124.13m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 10.22km/h thr=0.00 brk=0.37 str=-0.05 safe=0 progress=43.0% goal=120.02m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.18 safe=0 progress=43.5% goal=119.06m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  9.34km/h thr=0.75 brk=0.00 str=-0.16 safe=1 progress=43.8% goal=118.36m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 14.86km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=45.7% goal=114.36m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=47.0% goal=111.77m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.91km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=47.0% goal=111.76m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.38km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=48.2% goal=109.26m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  9.91km/h thr=0.00 brk=0.40 str=-0.09 safe=0 progress=50.0% goal=105.37m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.16 safe=0 progress=50.4% goal=104.54m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 10.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=50.8% goal=103.70m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 14.26km/h thr=0.00 brk=0.40 str=-0.07 safe=0 progress=52.7% goal=99.65m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=53.8% goal=97.39m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed=  2.44km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=53.8% goal=97.33m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 15.95km/h thr=0.36 brk=0.00 str=+0.19 safe=0 progress=55.2% goal=94.42m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  8.87km/h thr=0.00 brk=0.43 str=-0.20 safe=0 progress=57.0% goal=90.69m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.14 safe=0 progress=57.2% goal=90.14m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 12.22km/h thr=0.72 brk=0.00 str=-0.16 safe=1 progress=57.8% goal=88.98m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 13.84km/h thr=0.00 brk=0.43 str=-0.12 safe=0 progress=59.8% goal=84.71m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.13 safe=0 progress=60.8% goal=82.64m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed=  3.25km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=60.8% goal=82.54m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 16.58km/h thr=0.30 brk=0.00 str=+0.10 safe=0 progress=62.3% goal=79.39m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed=  8.65km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=64.1% goal=75.67m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.10 safe=0 progress=64.3% goal=75.18m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 12.22km/h thr=0.71 brk=0.00 str=-0.09 safe=1 progress=64.9% goal=74.01m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 13.53km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=66.9% goal=69.78m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.69 str=-0.27 safe=0 progress=67.8% goal=67.84m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed=  4.02km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=67.9% goal=67.69m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed= 16.57km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=69.5% goal=64.38m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed=  8.11km/h thr=0.00 brk=0.44 str=-0.10 safe=0 progress=71.1% goal=60.80m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.70 str=-0.25 safe=0 progress=71.3% goal=60.45m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed= 13.04km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=71.9% goal=59.12m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 15.75km/h thr=0.00 brk=0.24 str=-0.16 safe=0 progress=74.1% goal=54.51m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed= 15.14km/h thr=0.78 brk=0.00 str=-0.12 safe=0 progress=75.9% goal=50.86m dL=0.42 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed= 19.16km/h thr=0.32 brk=0.00 str=+0.01 safe=0 progress=78.3% goal=45.74m dL=0.82 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 17.99km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=80.8% goal=40.55m dL=0.93 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 18.12km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=83.2% goal=35.49m dL=1.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.15km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=85.6% goal=30.45m dL=1.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.31km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=87.9% goal=25.42m dL=1.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 18.38km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=90.3% goal=20.36m dL=1.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed= 18.41km/h thr=0.34 brk=0.00 str=+0.00 safe=0 progress=92.8% goal=15.27m dL=1.35 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1469 speed= 19.14km/h thr=0.24 brk=0.00 str=+0.07 safe=0 progress=93.9% goal=12.92m dL=1.41 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=04 R=-13.93 steps=1469 success=1 progress=93.9% DS=93.87 intv=0.289 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=04 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep04.csv (1469 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 143 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 141 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=31.46m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=141 goal_idx=None route_len=216.2m spawn=(-45.2,-36.5,-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=216.21m 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=216.21m dL=0.00 ttc=73.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.13km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.7% goal=214.60m dL=0.00 ttc=232.15s tl=Yellow credit=0 reason=
[STEP] step=0060 speed= 12.32km/h thr=0.00 brk=0.31 str=-0.02 safe=0 progress=2.7% goal=210.35m dL=0.11 ttc=51.26s tl=Yellow credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=16.37s tl=Yellow credit=0 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=13.38s tl=Red credit=14 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=13.71s tl=Red credit=34 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=16.16s tl=Red credit=54 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=20.22s tl=Red credit=74 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=26.09s tl=Red credit=94 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=44.85s tl=Red credit=114 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=999.00s tl=Red credit=134 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=999.00s tl=Red credit=154 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=999.00s tl=Red credit=174 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=999.00s tl=Red credit=194 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=999.00s tl=Red credit=214 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=999.00s tl=Red credit=234 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=126.92s tl=Red credit=254 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=71.59s tl=Red credit=274 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=50.60s tl=Red credit=294 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=39.18s tl=Red credit=314 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=34.49s tl=Red credit=334 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=34.27s tl=Red credit=354 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=35.19s tl=Red credit=374 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=49.09s tl=Red credit=394 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=51.84s tl=Red credit=414 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=61.94s tl=Red credit=434 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=72.87s tl=Red credit=454 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=79.83s tl=Red credit=474 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=59.09s tl=Red credit=494 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=34.33s tl=Red credit=514 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=21.24s tl=Red credit=534 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=16.49s tl=Red credit=554 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=16.96s tl=Red credit=574 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=16.55s tl=Red credit=594 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=15.73s tl=Red credit=600 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=14.94s tl=Red credit=600 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.20 safe=0 progress=3.5% goal=208.60m dL=0.14 ttc=14.27s tl=Green credit=591 reason=
[STEP] step=0760 speed=  6.71km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=3.7% goal=208.22m dL=0.12 ttc=16.19s tl=Green credit=571 reason=
[STEP] step=0780 speed= 14.35km/h thr=0.36 brk=0.00 str=-0.04 safe=0 progress=5.2% goal=204.87m dL=0.11 ttc=21.76s tl=None credit=551 reason=
[STEP] step=0800 speed=  9.79km/h thr=0.00 brk=0.05 str=-0.11 safe=0 progress=6.9% goal=201.37m dL=0.07 ttc=21.19s tl=None credit=531 reason=
[STEP] step=0820 speed= 10.30km/h thr=0.12 brk=0.00 str=-0.08 safe=0 progress=8.0% goal=198.83m dL=0.02 ttc=25.58s tl=None credit=511 reason=
[STEP] step=0840 speed=  7.90km/h thr=0.13 brk=0.00 str=-0.18 safe=0 progress=9.3% goal=196.19m dL=0.02 ttc=9.49s tl=None credit=491 reason=
[STEP] step=0860 speed=  9.23km/h thr=0.06 brk=0.00 str=-0.21 safe=0 progress=10.4% goal=193.65m dL=0.05 ttc=8.63s tl=None credit=471 reason=
[STEP] step=0880 speed=  8.39km/h thr=0.23 brk=0.00 str=-0.24 safe=0 progress=11.6% goal=191.12m dL=0.08 ttc=7.33s tl=None credit=451 reason=
[STEP] step=0900 speed=  8.39km/h thr=0.35 brk=0.00 str=-0.30 safe=0 progress=12.8% goal=188.63m dL=0.10 ttc=7.79s tl=None credit=431 reason=
[STEP] step=0920 speed=  8.29km/h thr=0.42 brk=0.00 str=-0.29 safe=0 progress=13.9% goal=186.18m dL=0.11 ttc=8.48s tl=None credit=411 reason=
[STEP] step=0940 speed=  8.20km/h thr=0.18 brk=0.00 str=-0.11 safe=0 progress=15.0% goal=183.78m dL=0.10 ttc=14.17s tl=None credit=391 reason=
[STEP] step=0960 speed= 10.42km/h thr=0.36 brk=0.00 str=-0.21 safe=0 progress=16.2% goal=181.13m dL=0.16 ttc=14.58s tl=None credit=371 reason=
[STEP] step=0980 speed= 15.19km/h thr=0.17 brk=0.00 str=+0.00 safe=0 progress=18.0% goal=177.40m dL=0.28 ttc=16.50s tl=None credit=351 reason=
[STEP] step=1000 speed= 10.32km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=19.6% goal=173.90m dL=0.02 ttc=9.11s tl=None credit=331 reason=
[STEP] step=1020 speed= 13.69km/h thr=0.09 brk=0.00 str=+0.02 safe=0 progress=21.2% goal=170.38m dL=0.05 ttc=10.04s tl=None credit=311 reason=
[STEP] step=1040 speed= 13.27km/h thr=0.19 brk=0.00 str=-0.07 safe=0 progress=22.9% goal=166.71m dL=0.08 ttc=10.35s tl=None credit=291 reason=
[STEP] step=1060 speed= 13.10km/h thr=0.21 brk=0.00 str=-0.03 safe=0 progress=24.6% goal=163.05m dL=0.05 ttc=15.01s tl=None credit=271 reason=
[STEP] step=1080 speed= 13.75km/h thr=0.15 brk=0.00 str=-0.09 safe=0 progress=26.3% goal=159.37m dL=0.06 ttc=999.00s tl=None credit=251 reason=
[STEP] step=1100 speed= 12.94km/h thr=0.42 brk=0.00 str=-0.15 safe=0 progress=28.0% goal=155.75m dL=0.10 ttc=449.37s tl=None credit=231 reason=
[STEP] step=1120 speed= 12.21km/h thr=0.30 brk=0.00 str=-0.09 safe=0 progress=29.7% goal=152.07m dL=0.10 ttc=999.00s tl=None credit=211 reason=
[STEP] step=1140 speed= 11.96km/h thr=0.06 brk=0.00 str=-0.07 safe=0 progress=31.3% goal=148.44m dL=0.09 ttc=999.00s tl=None credit=191 reason=
[STEP] step=1160 speed= 14.20km/h thr=0.00 brk=0.15 str=+0.01 safe=0 progress=33.0% goal=144.82m dL=0.11 ttc=999.00s tl=None credit=171 reason=
[STEP] step=1180 speed= 14.57km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=34.7% goal=141.18m dL=0.12 ttc=999.00s tl=None credit=151 reason=
[STEP] step=1200 speed= 13.75km/h thr=0.21 brk=0.00 str=-0.06 safe=0 progress=36.5% goal=137.24m dL=0.09 ttc=999.00s tl=None credit=131 reason=
[STEP] step=1220 speed= 13.74km/h thr=0.33 brk=0.00 str=-0.20 safe=0 progress=38.3% goal=133.42m dL=0.01 ttc=999.00s tl=None credit=111 reason=
[STEP] step=1240 speed= 13.79km/h thr=0.21 brk=0.00 str=-0.05 safe=0 progress=40.1% goal=129.59m dL=0.10 ttc=999.00s tl=None credit=91 reason=
[STEP] step=1260 speed= 13.75km/h thr=0.21 brk=0.00 str=-0.04 safe=0 progress=41.8% goal=125.78m dL=0.19 ttc=999.00s tl=None credit=71 reason=
[STEP] step=1280 speed= 13.77km/h thr=0.21 brk=0.00 str=-0.02 safe=0 progress=43.6% goal=121.98m dL=0.23 ttc=999.00s tl=None credit=51 reason=
[STEP] step=1300 speed= 13.78km/h thr=0.27 brk=0.00 str=-0.05 safe=0 progress=45.3% goal=118.18m dL=0.26 ttc=999.00s tl=None credit=31 reason=
[STEP] step=1320 speed= 15.00km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=47.2% goal=114.16m dL=0.23 ttc=999.00s tl=None credit=11 reason=
[STEP] step=1340 speed= 16.05km/h thr=0.39 brk=0.00 str=-0.12 safe=0 progress=49.2% goal=109.77m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 16.89km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=51.3% goal=105.35m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed= 20.49km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=53.7% goal=100.18m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 21.56km/h thr=0.31 brk=0.00 str=-0.01 safe=0 progress=56.4% goal=94.19m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.96km/h thr=0.38 brk=0.00 str=+0.01 safe=0 progress=59.1% goal=88.45m dL=0.05 ttc=999.00s tl=Green credit=0 reason=
[STEP] step=1440 speed= 20.70km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=61.7% goal=82.90m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed= 16.38km/h thr=0.00 brk=0.49 str=-0.01 safe=0 progress=64.2% goal=77.36m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  7.05km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=65.6% goal=74.30m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.03 safe=0 progress=65.7% goal=74.05m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed= 11.30km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=66.4% goal=72.64m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed= 10.78km/h thr=0.00 brk=0.30 str=-0.15 safe=0 progress=68.1% goal=69.07m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1780 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1800 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1801 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=68.7% goal=67.77m dL=0.28 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=05 R=286.32 steps=1801 success=0 progress=68.7% DS=0.00 intv=0.042 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=05 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep05.csv (1801 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 147 (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=100.00% dL=30.24m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=140 goal_idx=None route_len=197.0m 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=197.00m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.97km/h thr=0.64 brk=0.00 str=-0.08 safe=1 progress=0.0% goal=197.00m dL=0.00 ttc=16.72s tl=Yellow credit=0 reason=
[STEP] step=0040 speed= 10.44km/h thr=0.12 brk=0.00 str=+0.14 safe=0 progress=1.3% goal=194.45m dL=0.11 ttc=10.70s tl=Yellow credit=0 reason=
[STEP] step=0060 speed=  8.58km/h thr=0.22 brk=0.00 str=+0.10 safe=0 progress=2.6% goal=191.94m dL=0.07 ttc=4.96s tl=Yellow credit=0 reason=
[STEP] step=0080 speed=  9.47km/h thr=0.03 brk=0.00 str=+0.20 safe=0 progress=3.8% goal=189.53m dL=0.06 ttc=5.70s tl=None credit=0 reason=
[STEP] step=0100 speed=  7.98km/h thr=0.18 brk=0.00 str=+0.25 safe=0 progress=5.0% goal=187.17m dL=0.09 ttc=5.99s tl=None credit=0 reason=
[STEP] step=0120 speed=  8.05km/h thr=0.12 brk=0.00 str=+0.09 safe=0 progress=6.2% goal=184.84m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  7.99km/h thr=0.15 brk=0.00 str=+0.15 safe=0 progress=7.3% goal=182.64m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  7.84km/h thr=0.17 brk=0.00 str=+0.25 safe=0 progress=8.4% goal=180.46m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.83km/h thr=0.16 brk=0.00 str=+0.30 safe=0 progress=9.5% goal=178.30m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.53km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=10.7% goal=175.94m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.14km/h thr=0.00 brk=0.14 str=+0.10 safe=0 progress=12.9% goal=171.54m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.51km/h thr=0.00 brk=0.08 str=+0.14 safe=0 progress=15.2% goal=167.10m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.25km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=17.4% goal=162.71m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.21km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=19.7% goal=158.20m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.44km/h thr=0.06 brk=0.00 str=+0.01 safe=0 progress=21.9% goal=153.77m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.15km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=24.2% goal=149.38m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.01km/h thr=0.42 brk=0.00 str=-0.09 safe=0 progress=26.4% goal=144.93m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.74km/h thr=0.00 brk=0.38 str=-0.03 safe=0 progress=28.5% goal=140.85m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.69 str=+0.10 safe=0 progress=29.1% goal=139.69m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  7.65km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=29.3% goal=139.21m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.87km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=31.4% goal=135.10m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 16.73km/h thr=0.17 brk=0.00 str=-0.03 safe=0 progress=33.9% goal=130.21m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 16.52km/h thr=0.29 brk=0.00 str=-0.04 safe=0 progress=36.2% goal=125.65m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.80km/h thr=0.31 brk=0.00 str=-0.04 safe=0 progress=38.6% goal=120.92m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 18.45km/h thr=0.25 brk=0.00 str=-0.05 safe=0 progress=41.2% goal=115.89m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 18.59km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=43.8% goal=110.76m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 18.42km/h thr=0.27 brk=0.00 str=-0.04 safe=0 progress=46.4% goal=105.55m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 18.53km/h thr=0.31 brk=0.00 str=-0.06 safe=0 progress=49.0% goal=100.41m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 20.04km/h thr=0.34 brk=0.00 str=-0.04 safe=0 progress=51.7% goal=95.06m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 21.08km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=54.7% goal=89.31m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 20.08km/h thr=0.00 brk=0.16 str=+0.00 safe=0 progress=57.7% goal=83.38m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 11.21km/h thr=0.00 brk=0.27 str=+0.06 safe=0 progress=59.9% goal=79.06m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.04 safe=0 progress=60.6% goal=77.54m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  4.74km/h thr=0.75 brk=0.00 str=+0.12 safe=1 progress=60.7% goal=77.32m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.08km/h thr=0.18 brk=0.00 str=+0.03 safe=0 progress=62.5% goal=73.94m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  8.43km/h thr=0.00 brk=0.31 str=+0.12 safe=0 progress=64.2% goal=70.46m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.01 safe=0 progress=64.5% goal=69.91m dL=0.03 ttc=318.59s tl=None credit=0 reason=
[STEP] step=0760 speed= 12.00km/h thr=0.60 brk=0.00 str=-0.10 safe=1 progress=65.1% goal=68.75m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 13.33km/h thr=0.00 brk=0.28 str=+0.09 safe=0 progress=67.2% goal=64.66m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.04 safe=0 progress=68.3% goal=62.40m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  1.67km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=68.3% goal=62.37m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 15.33km/h thr=0.42 brk=0.00 str=+0.14 safe=1 progress=69.7% goal=59.68m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed=  9.84km/h thr=0.00 brk=0.31 str=+0.11 safe=0 progress=71.6% goal=55.86m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.00 safe=0 progress=72.2% goal=54.86m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed=  8.37km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=72.4% goal=54.28m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 15.05km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=74.4% goal=50.41m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed=  5.31km/h thr=0.00 brk=0.35 str=+0.11 safe=0 progress=75.9% goal=47.45m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=75.9% goal=47.42m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 14.40km/h thr=0.42 brk=0.00 str=+0.16 safe=1 progress=77.0% goal=45.31m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 11.12km/h thr=0.00 brk=0.28 str=+0.12 safe=0 progress=79.0% goal=41.32m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.06 safe=0 progress=79.8% goal=39.87m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed=  5.84km/h thr=0.75 brk=0.00 str=+0.10 safe=1 progress=79.9% goal=39.57m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 15.93km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=81.7% goal=36.05m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed=  7.99km/h thr=0.00 brk=0.27 str=+0.13 safe=0 progress=83.4% goal=32.71m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.01 safe=0 progress=83.6% goal=32.28m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 12.99km/h thr=0.75 brk=0.00 str=+0.16 safe=1 progress=84.3% goal=30.93m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.27km/h thr=0.43 brk=0.00 str=-0.02 safe=0 progress=86.7% goal=26.23m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 20.42km/h thr=0.44 brk=0.00 str=+0.05 safe=0 progress=89.3% goal=21.04m dL=1.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 22.07km/h thr=0.28 brk=0.00 str=+0.03 safe=0 progress=92.4% goal=15.03m dL=1.40 ttc=878.59s tl=None credit=0 reason=
[STEP] step=1187 speed= 21.55km/h thr=0.42 brk=0.00 str=-0.05 safe=0 progress=93.4% goal=12.92m dL=1.37 ttc=999.00s tl=Green credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=06 R=-85.97 steps=1187 success=1 progress=93.4% DS=93.44 intv=0.190 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=06 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep06.csv (1187 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 150 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 70 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=8.89% dL=116.96m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=70 goal_idx=None route_len=197.0m spawn=(-18.4,130.1,-0.0) yaw=-179.6 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=196.97m 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=196.97m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.96km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=1.7% goal=193.58m dL=0.00 ttc=58.85s tl=Yellow credit=0 reason=
[STEP] step=0060 speed= 14.87km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=4.1% goal=188.90m dL=0.02 ttc=11.90s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.02km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=6.3% goal=184.53m dL=0.03 ttc=9.68s tl=None credit=0 reason=
[STEP] step=0100 speed= 12.92km/h thr=0.00 brk=0.26 str=-0.01 safe=0 progress=8.5% goal=180.21m dL=0.03 ttc=8.91s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=9.6% goal=178.07m dL=0.06 ttc=8.96s tl=None credit=0 reason=
[STEP] step=0140 speed=  2.47km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=9.6% goal=178.00m dL=0.06 ttc=7.87s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.53km/h thr=0.36 brk=0.00 str=-0.05 safe=0 progress=11.2% goal=174.95m dL=0.02 ttc=6.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.26km/h thr=0.36 brk=0.00 str=-0.05 safe=0 progress=13.5% goal=170.32m dL=0.08 ttc=5.15s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.48km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=15.8% goal=165.92m dL=0.06 ttc=5.01s tl=None credit=0 reason=
[STEP] step=0220 speed= 14.53km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=18.0% goal=161.57m dL=0.03 ttc=5.07s tl=None credit=0 reason=
[STEP] step=0240 speed= 14.30km/h thr=0.15 brk=0.00 str=-0.01 safe=0 progress=20.0% goal=157.58m dL=0.02 ttc=5.99s tl=None credit=0 reason=
[STEP] step=0260 speed= 13.60km/h thr=0.21 brk=0.00 str=+0.05 safe=0 progress=21.9% goal=153.74m dL=0.04 ttc=9.21s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.58km/h thr=0.22 brk=0.00 str=+0.11 safe=0 progress=23.9% goal=149.96m dL=0.02 ttc=16.71s tl=None credit=0 reason=
[STEP] step=0300 speed= 13.57km/h thr=0.21 brk=0.00 str=+0.11 safe=0 progress=25.8% goal=146.18m dL=0.05 ttc=6.96s tl=None credit=0 reason=
[STEP] step=0320 speed= 13.33km/h thr=0.19 brk=0.00 str=+0.05 safe=0 progress=27.7% goal=142.44m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.71km/h thr=0.21 brk=0.00 str=+0.02 safe=0 progress=29.6% goal=138.69m dL=0.05 ttc=8.45s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.71km/h thr=0.16 brk=0.00 str=-0.02 safe=0 progress=31.5% goal=134.87m dL=0.06 ttc=774.15s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.56km/h thr=0.22 brk=0.00 str=+0.11 safe=0 progress=33.4% goal=131.11m dL=0.04 ttc=89.27s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.72km/h thr=0.19 brk=0.00 str=+0.08 safe=0 progress=35.4% goal=127.32m dL=0.05 ttc=111.80s tl=None credit=0 reason=
[STEP] step=0420 speed= 14.68km/h thr=0.22 brk=0.00 str=+0.13 safe=0 progress=37.4% goal=123.33m dL=0.04 ttc=71.92s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.63km/h thr=0.23 brk=0.00 str=+0.09 safe=0 progress=39.5% goal=119.27m dL=0.10 ttc=38.33s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.49km/h thr=0.23 brk=0.00 str=+0.11 safe=0 progress=41.5% goal=115.19m dL=0.11 ttc=57.99s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.48km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=43.6% goal=111.14m dL=0.11 ttc=53.09s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.54km/h thr=0.19 brk=0.00 str=+0.03 safe=0 progress=45.6% goal=107.11m dL=0.10 ttc=50.89s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.56km/h thr=0.19 brk=0.00 str=-0.03 safe=0 progress=47.7% goal=103.09m dL=0.12 ttc=51.04s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.55km/h thr=0.23 brk=0.00 str=+0.05 safe=0 progress=49.7% goal=99.07m dL=0.10 ttc=15.58s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.45km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=51.8% goal=95.02m dL=0.09 ttc=42.76s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.37km/h thr=0.33 brk=0.00 str=+0.03 safe=0 progress=53.8% goal=91.02m dL=0.12 ttc=21.89s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.43km/h thr=0.19 brk=0.00 str=+0.08 safe=0 progress=55.9% goal=86.89m dL=0.09 ttc=37.20s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.00km/h thr=0.14 brk=0.00 str=+0.07 safe=0 progress=58.1% goal=82.45m dL=0.10 ttc=32.59s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.16km/h thr=0.34 brk=0.00 str=-0.03 safe=0 progress=60.4% goal=77.98m dL=0.10 ttc=34.98s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.96km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=62.7% goal=73.39m dL=0.03 ttc=10.56s tl=None credit=0 reason=
[STEP] step=0680 speed= 17.76km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=65.2% goal=68.54m dL=0.03 ttc=39.38s tl=None credit=0 reason=
[STEP] step=0700 speed= 17.93km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=67.7% goal=63.61m dL=0.04 ttc=51.30s tl=None credit=0 reason=
[STEP] step=0720 speed= 18.02km/h thr=0.36 brk=0.00 str=-0.14 safe=0 progress=70.3% goal=58.60m dL=0.01 ttc=16.67s tl=None credit=0 reason=
[STEP] step=0740 speed= 17.93km/h thr=0.16 brk=0.00 str=-0.04 safe=0 progress=72.8% goal=53.54m dL=0.04 ttc=35.00s tl=Red credit=0 reason=
[STEP] step=0760 speed= 18.03km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=75.3% goal=48.59m dL=0.11 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0780 speed= 11.74km/h thr=0.00 brk=0.03 str=-0.12 safe=0 progress=77.4% goal=44.42m dL=0.23 ttc=67.82s tl=None credit=0 reason=
[STEP] step=0800 speed=  9.28km/h thr=0.03 brk=0.00 str=+0.13 safe=0 progress=78.9% goal=41.57m dL=0.21 ttc=12.33s tl=None credit=0 reason=
[STEP] step=0820 speed=  8.56km/h thr=0.00 brk=0.05 str=+0.21 safe=0 progress=80.1% goal=39.13m dL=0.10 ttc=6.02s tl=None credit=0 reason=
[STEP] step=0840 speed=  8.01km/h thr=0.25 brk=0.00 str=+0.25 safe=0 progress=81.3% goal=36.90m dL=0.06 ttc=4.71s tl=None credit=0 reason=
[STEP] step=0860 speed=  8.10km/h thr=0.17 brk=0.00 str=+0.05 safe=0 progress=82.4% goal=34.68m dL=0.06 ttc=3.91s tl=None credit=0 reason=
[STEP] step=0880 speed=  8.17km/h thr=0.16 brk=0.00 str=+0.19 safe=0 progress=83.5% goal=32.46m dL=0.06 ttc=4.35s tl=None credit=0 reason=
[STEP] step=0900 speed=  7.92km/h thr=0.14 brk=0.00 str=+0.24 safe=0 progress=84.6% goal=30.25m dL=0.05 ttc=3.63s tl=None credit=0 reason=
[STEP] step=0920 speed=  8.11km/h thr=0.17 brk=0.00 str=+0.29 safe=0 progress=85.8% goal=28.04m dL=0.04 ttc=3.86s tl=None credit=0 reason=
[STEP] step=0940 speed=  7.79km/h thr=0.15 brk=0.00 str=+0.29 safe=0 progress=86.9% goal=25.85m dL=0.00 ttc=7.31s tl=None credit=0 reason=
[STEP] step=0960 speed= 10.47km/h thr=0.24 brk=0.00 str=+0.20 safe=0 progress=88.2% goal=23.22m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.87km/h thr=0.61 brk=0.00 str=+0.06 safe=0 progress=90.1% goal=19.55m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 24.57km/h thr=0.61 brk=0.00 str=-0.02 safe=0 progress=93.0% goal=13.80m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1003 speed= 25.74km/h thr=0.59 brk=0.00 str=+0.01 safe=0 progress=93.5% goal=12.75m dL=0.24 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=07 R=-92.31 steps=1003 success=1 progress=93.5% DS=93.53 intv=0.050 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=07 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep07.csv (1003 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 154 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 78 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=35.00% dL=119.34m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=78 goal_idx=None route_len=202.9m spawn=(-71.2,132.3,-0.0) yaw=-167.2 start_progress=0.02% start_dL=0.00
[STEP] step=0001 speed=  0.25km/h thr=0.06 brk=0.00 str=-0.02 safe=0 progress=0.0% goal=202.82m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  1.51km/h thr=0.75 brk=0.00 str=+0.06 safe=1 progress=0.0% goal=202.81m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 17.18km/h thr=0.42 brk=0.00 str=+0.16 safe=1 progress=1.8% goal=199.26m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.09km/h thr=0.00 brk=0.07 str=-0.01 safe=0 progress=4.1% goal=194.59m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed= 14.17km/h thr=0.14 brk=0.00 str=+0.07 safe=0 progress=5.9% goal=190.89m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed= 13.42km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=7.8% goal=187.11m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 14.10km/h thr=0.16 brk=0.00 str=+0.09 safe=0 progress=9.6% goal=183.35m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 14.96km/h thr=0.17 brk=0.00 str=+0.06 safe=0 progress=11.6% goal=179.40m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.45km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=13.6% goal=175.36m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 14.44km/h thr=0.27 brk=0.00 str=+0.04 safe=0 progress=15.5% goal=171.34m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 14.42km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=17.5% goal=167.33m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 14.45km/h thr=0.33 brk=0.00 str=+0.03 safe=0 progress=19.5% goal=163.30m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 14.45km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=21.5% goal=159.27m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 15.12km/h thr=0.16 brk=0.00 str=+0.06 safe=0 progress=23.5% goal=155.22m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.36km/h thr=0.18 brk=0.00 str=+0.07 safe=0 progress=25.5% goal=151.20m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 13.49km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=27.4% goal=147.19m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 14.50km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=29.5% goal=143.12m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 15.83km/h thr=0.19 brk=0.00 str=+0.06 safe=0 progress=31.5% goal=138.87m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.11km/h thr=0.00 brk=0.30 str=+0.06 safe=0 progress=33.7% goal=134.53m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.18 safe=0 progress=34.6% goal=132.75m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  4.93km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=34.7% goal=132.54m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.92km/h thr=0.33 brk=0.00 str=+0.01 safe=0 progress=36.5% goal=128.91m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 20.65km/h thr=0.45 brk=0.00 str=+0.05 safe=0 progress=39.0% goal=123.72m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 23.61km/h thr=0.37 brk=0.00 str=+0.08 safe=0 progress=42.1% goal=117.42m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 21.66km/h thr=0.26 brk=0.00 str=-0.04 safe=0 progress=45.3% goal=111.06m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 21.20km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=48.2% goal=105.12m dL=0.07 ttc=999.00s tl=Yellow credit=0 reason=
[STEP] step=0520 speed= 22.13km/h thr=0.22 brk=0.00 str=-0.05 safe=0 progress=51.1% goal=99.13m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.64km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=53.6% goal=94.09m dL=0.27 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  7.15km/h thr=0.00 brk=0.15 str=+0.16 safe=0 progress=55.0% goal=91.29m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.26 safe=0 progress=55.1% goal=91.03m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  9.10km/h thr=0.25 brk=0.00 str=-0.00 safe=0 progress=55.7% goal=89.83m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed=  7.78km/h thr=0.14 brk=0.00 str=+0.23 safe=0 progress=56.9% goal=87.35m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed=  7.81km/h thr=0.14 brk=0.00 str=+0.25 safe=0 progress=58.1% goal=85.07m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  7.78km/h thr=0.15 brk=0.00 str=+0.04 safe=0 progress=59.1% goal=82.93m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  7.76km/h thr=0.15 brk=0.00 str=+0.18 safe=0 progress=60.2% goal=80.79m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed=  7.75km/h thr=0.15 brk=0.00 str=+0.24 safe=0 progress=61.2% goal=78.65m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  7.72km/h thr=0.16 brk=0.00 str=+0.30 safe=0 progress=62.3% goal=76.52m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 10.86km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=63.4% goal=74.19m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 18.43km/h thr=0.42 brk=0.00 str=-0.13 safe=0 progress=65.7% goal=69.66m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 22.57km/h thr=0.51 brk=0.00 str=+0.08 safe=0 progress=68.4% goal=64.14m dL=0.49 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 17.79km/h thr=0.00 brk=0.10 str=+0.00 safe=0 progress=71.3% goal=58.14m dL=0.43 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.06km/h thr=0.37 brk=0.00 str=-0.03 safe=0 progress=73.7% goal=53.27m dL=0.59 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 17.95km/h thr=0.19 brk=0.00 str=+0.04 safe=0 progress=76.2% goal=48.24m dL=0.71 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0860 speed= 17.74km/h thr=0.00 brk=0.08 str=+0.32 safe=0 progress=78.7% goal=43.24m dL=0.79 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed=  7.91km/h thr=0.00 brk=0.43 str=-0.06 safe=0 progress=80.4% goal=39.75m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.03 safe=0 progress=80.6% goal=39.42m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 13.97km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=81.3% goal=37.90m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 18.48km/h thr=0.56 brk=0.00 str=-0.10 safe=0 progress=83.7% goal=33.09m dL=0.41 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed= 21.30km/h thr=0.23 brk=0.00 str=+0.27 safe=0 progress=86.4% goal=27.53m dL=1.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 13.04km/h thr=0.00 brk=0.08 str=-0.03 safe=0 progress=88.7% goal=22.92m dL=0.95 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 14.35km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=90.4% goal=19.57m dL=0.48 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed=  9.64km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=92.0% goal=16.15m dL=0.47 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1039 speed= 15.75km/h thr=0.45 brk=0.00 str=-0.05 safe=0 progress=93.7% goal=12.88m dL=0.75 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=08 R=24.99 steps=1039 success=1 progress=93.7% DS=93.65 intv=0.096 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=08 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep08.csv (1039 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 156 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 105 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=83.11m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=105 goal_idx=None route_len=205.2m spawn=(83.1,13.4,-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=205.22m 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=205.22m 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=0.8% goal=203.60m dL=0.00 ttc=48.45s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.62km/h thr=0.00 brk=0.26 str=-0.01 safe=0 progress=3.0% goal=199.16m dL=0.04 ttc=252.72s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.11 safe=0 progress=3.9% goal=197.30m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.13km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=3.9% goal=197.15m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.83km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=5.6% goal=193.69m dL=0.01 ttc=58.65s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.33km/h thr=0.00 brk=0.25 str=+0.01 safe=0 progress=7.6% goal=189.67m dL=0.04 ttc=109.41s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.18 safe=0 progress=8.1% goal=188.61m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  8.45km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=8.4% goal=188.02m dL=0.03 ttc=75.30s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.85km/h thr=0.00 brk=0.24 str=-0.03 safe=0 progress=10.4% goal=183.79m dL=0.04 ttc=35.39s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.22km/h thr=0.00 brk=0.42 str=-0.06 safe=0 progress=12.1% goal=180.33m dL=0.03 ttc=42.12s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.13 safe=0 progress=12.4% goal=179.84m dL=0.02 ttc=57.80s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.26km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=12.9% goal=178.67m dL=0.02 ttc=31.14s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.03km/h thr=0.00 brk=0.22 str=+0.00 safe=0 progress=15.1% goal=174.14m dL=0.03 ttc=27.31s tl=None credit=0 reason=
[STEP] step=0300 speed=  5.02km/h thr=0.00 brk=0.41 str=-0.08 safe=0 progress=16.6% goal=171.16m dL=0.02 ttc=41.72s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=16.6% goal=171.12m dL=0.02 ttc=56.17s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.10km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=17.7% goal=168.95m dL=0.01 ttc=20.85s tl=None credit=0 reason=
[STEP] step=0360 speed= 12.95km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=19.9% goal=164.45m dL=0.03 ttc=23.26s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.18 safe=0 progress=20.9% goal=162.32m dL=0.00 ttc=35.22s tl=None credit=0 reason=
[STEP] step=0400 speed=  2.39km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=20.9% goal=162.26m dL=0.00 ttc=37.29s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.51km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=22.4% goal=159.22m dL=0.01 ttc=25.56s tl=None credit=0 reason=
[STEP] step=0440 speed= 11.68km/h thr=0.00 brk=0.19 str=-0.04 safe=0 progress=24.5% goal=154.94m dL=0.02 ttc=35.08s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.11 safe=0 progress=25.2% goal=153.45m dL=0.01 ttc=61.86s tl=None credit=0 reason=
[STEP] step=0480 speed=  5.81km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=25.4% goal=153.16m dL=0.01 ttc=66.31s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.82km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=27.2% goal=149.35m dL=0.02 ttc=90.86s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.38km/h thr=0.00 brk=0.23 str=-0.06 safe=0 progress=29.1% goal=145.42m dL=0.02 ttc=352.71s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.11 safe=0 progress=29.7% goal=144.27m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  7.51km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=29.9% goal=143.80m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 17.37km/h thr=0.06 brk=0.00 str=-0.05 safe=0 progress=31.9% goal=139.70m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 16.32km/h thr=0.17 brk=0.00 str=+0.07 safe=0 progress=34.1% goal=135.17m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.00km/h thr=0.26 brk=0.00 str=+0.04 safe=0 progress=36.3% goal=130.68m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 16.73km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=38.5% goal=126.15m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.09km/h thr=0.32 brk=0.00 str=+0.06 safe=0 progress=40.9% goal=121.33m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 18.06km/h thr=0.39 brk=0.00 str=+0.04 safe=0 progress=43.3% goal=116.30m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 19.01km/h thr=0.40 brk=0.00 str=+0.03 safe=0 progress=45.8% goal=111.14m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 18.71km/h thr=0.33 brk=0.00 str=+0.05 safe=0 progress=48.4% goal=105.83m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.42km/h thr=0.29 brk=0.00 str=-0.05 safe=0 progress=50.9% goal=100.71m dL=0.04 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=73.59s tl=Red credit=11 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=50.92s tl=Red credit=31 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=40.44s tl=Red credit=51 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.08 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=38.97s tl=Red credit=71 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=41.04s tl=Red credit=91 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=44.50s tl=Red credit=111 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.87 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=54.26s tl=Red credit=131 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=69.36s tl=Red credit=151 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.87 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=89.54s tl=Red credit=171 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=116.43s tl=Red credit=191 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.87 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=129.60s tl=Red credit=211 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.08 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=108.86s tl=Red credit=231 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.08 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=167.61s tl=Red credit=251 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=427.66s tl=Red credit=271 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=291 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=311 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=331 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=351 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.13 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=371 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=391 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.08 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=411 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=199.48s tl=Red credit=431 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=77.79s tl=Red credit=451 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.10 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=48.39s tl=Red credit=471 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=34.87s tl=Red credit=491 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=27.04s tl=Red credit=511 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.08 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=21.83s tl=Red credit=531 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=20.07s tl=Red credit=551 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=19.72s tl=Red credit=571 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.86 str=+0.08 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=19.82s tl=Red credit=591 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=20.22s tl=Red credit=600 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=21.04s tl=Red credit=600 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.13 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=22.49s tl=Red credit=600 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=24.95s tl=Red credit=600 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=29.78s tl=Red credit=600 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=40.08s tl=Red credit=600 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=65.71s tl=Red credit=600 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=130.13s tl=Red credit=600 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=456.87s tl=Red credit=600 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.13 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=21.93s tl=Red credit=600 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.83 str=+0.13 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=11.89s tl=Red credit=600 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.88 str=+0.09 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=9.23s tl=Red credit=600 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.07 safe=0 progress=51.9% goal=98.81m dL=0.01 ttc=8.26s tl=Green credit=590 reason=
[STEP] step=1680 speed=  7.50km/h thr=0.75 brk=0.00 str=+0.05 safe=1 progress=52.1% goal=98.34m dL=0.00 ttc=6.47s tl=Green credit=570 reason=
[STEP] step=1700 speed= 17.22km/h thr=0.00 brk=0.16 str=-0.05 safe=0 progress=54.1% goal=94.24m dL=0.06 ttc=4.99s tl=None credit=550 reason=
[STEP] step=1720 speed=  9.48km/h thr=0.12 brk=0.00 str=+0.05 safe=0 progress=55.8% goal=90.65m dL=0.03 ttc=5.23s tl=None credit=530 reason=
[STEP] step=1740 speed= 14.53km/h thr=0.42 brk=0.00 str=-0.14 safe=0 progress=57.4% goal=87.47m dL=0.05 ttc=4.31s tl=None credit=510 reason=
[STEP] step=1760 speed= 17.78km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=59.6% goal=82.84m dL=0.03 ttc=11.88s tl=None credit=490 reason=
[STEP] step=1780 speed= 18.57km/h thr=0.29 brk=0.00 str=+0.02 safe=0 progress=62.1% goal=77.76m dL=0.09 ttc=20.37s tl=None credit=470 reason=
[STEP] step=1800 speed= 19.81km/h thr=0.34 brk=0.00 str=+0.05 safe=0 progress=64.7% goal=72.42m dL=0.11 ttc=999.00s tl=None credit=450 reason=
[STEP] step=1820 speed= 21.43km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=67.5% goal=66.65m dL=0.09 ttc=999.00s tl=None credit=430 reason=
[STEP] step=1840 speed= 22.76km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=70.5% goal=60.46m dL=0.05 ttc=999.00s tl=None credit=410 reason=
[STEP] step=1860 speed= 23.93km/h thr=0.34 brk=0.00 str=-0.05 safe=0 progress=73.7% goal=53.93m dL=0.03 ttc=999.00s tl=None credit=390 reason=
[STEP] step=1880 speed= 25.07km/h thr=0.37 brk=0.00 str=+0.03 safe=0 progress=77.1% goal=47.09m dL=0.05 ttc=999.00s tl=None credit=370 reason=
[STEP] step=1900 speed= 25.60km/h thr=0.08 brk=0.00 str=-0.01 safe=0 progress=80.6% goal=39.90m dL=0.02 ttc=999.00s tl=Red credit=350 reason=
[STEP] step=1920 speed= 11.23km/h thr=0.18 brk=0.00 str=+0.13 safe=0 progress=83.2% goal=34.42m dL=0.16 ttc=999.00s tl=None credit=330 reason=
[STEP] step=1940 speed=  7.19km/h thr=0.00 brk=0.18 str=-0.16 safe=0 progress=84.6% goal=31.55m dL=0.13 ttc=999.00s tl=None credit=310 reason=
[STEP] step=1960 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.13 safe=0 progress=84.8% goal=31.21m dL=0.15 ttc=116.64s tl=None credit=290 reason=
[STEP] step=1980 speed= 11.34km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=85.4% goal=29.94m dL=0.10 ttc=999.00s tl=None credit=270 reason=
[STEP] step=2000 speed=  9.33km/h thr=0.18 brk=0.00 str=+0.20 safe=0 progress=86.8% goal=27.05m dL=0.09 ttc=999.00s tl=None credit=250 reason=
[STEP] step=2020 speed=  8.63km/h thr=0.18 brk=0.00 str=+0.28 safe=0 progress=88.0% goal=24.59m dL=0.04 ttc=999.00s tl=None credit=230 reason=
[STEP] step=2040 speed=  8.37km/h thr=0.10 brk=0.00 str=-0.03 safe=0 progress=89.1% goal=22.31m dL=0.02 ttc=999.00s tl=None credit=210 reason=
[STEP] step=2060 speed=  7.10km/h thr=0.21 brk=0.00 str=+0.18 safe=0 progress=90.2% goal=20.16m dL=0.07 ttc=999.00s tl=None credit=190 reason=
[STEP] step=2080 speed=  0.00km/h thr=0.00 brk=0.23 str=+0.28 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=170 reason=
[STEP] step=2100 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=150 reason=
[STEP] step=2120 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=130 reason=
[STEP] step=2140 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=110 reason=
[STEP] step=2160 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=90 reason=
[STEP] step=2180 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=70 reason=
[STEP] step=2200 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=50 reason=
[STEP] step=2220 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=30 reason=
[STEP] step=2240 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=10 reason=
[STEP] step=2260 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2280 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2300 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2320 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=2327 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.35 safe=0 progress=91.0% goal=18.44m dL=0.06 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=09 R=458.41 steps=2327 success=0 progress=91.0% DS=0.00 intv=0.104 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=09 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep09.csv (2327 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 159 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 44 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=133.49m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=44 goal_idx=None route_len=216.3m spawn=(109.3,89.8,-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=216.28m 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=216.28m 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=0.7% goal=214.66m dL=0.00 ttc=137.94s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.32km/h thr=0.00 brk=0.20 str=+0.01 safe=0 progress=2.9% goal=210.01m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  1.83km/h thr=0.00 brk=0.42 str=-0.02 safe=0 progress=4.2% goal=207.20m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.07km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=4.2% goal=207.20m dL=0.14 ttc=543.15s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.12km/h thr=0.44 brk=0.00 str=+0.01 safe=1 progress=5.2% goal=205.04m dL=0.06 ttc=51.56s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.57km/h thr=0.00 brk=0.21 str=+0.00 safe=0 progress=7.3% goal=200.44m dL=0.09 ttc=43.98s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.20 safe=0 progress=8.4% goal=198.02m dL=0.13 ttc=59.35s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.96km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=8.4% goal=198.01m dL=0.12 ttc=55.50s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=9.7% goal=195.40m dL=0.05 ttc=81.48s tl=None credit=0 reason=
[STEP] step=0220 speed= 12.18km/h thr=0.00 brk=0.24 str=-0.04 safe=0 progress=11.7% goal=190.99m dL=0.08 ttc=68.21s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.19 safe=0 progress=12.6% goal=189.11m dL=0.08 ttc=64.33s tl=None credit=0 reason=
[STEP] step=0260 speed=  3.25km/h thr=0.75 brk=0.00 str=-0.10 safe=1 progress=12.6% goal=189.01m dL=0.08 ttc=29.76s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.70km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=14.1% goal=185.76m dL=0.03 ttc=20.03s tl=None credit=0 reason=
[STEP] step=0300 speed= 11.04km/h thr=0.00 brk=0.24 str=-0.00 safe=0 progress=16.0% goal=181.60m dL=0.04 ttc=21.58s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.16 safe=0 progress=16.7% goal=180.16m dL=0.03 ttc=26.42s tl=None credit=0 reason=
[STEP] step=0340 speed=  5.91km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=16.8% goal=179.87m dL=0.03 ttc=22.51s tl=None credit=0 reason=
[STEP] step=0360 speed= 17.81km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=18.6% goal=176.07m dL=0.03 ttc=17.25s tl=Green credit=0 reason=
[STEP] step=0380 speed=  9.90km/h thr=0.00 brk=0.23 str=-0.00 safe=0 progress=20.4% goal=172.22m dL=0.03 ttc=18.74s tl=Green credit=0 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.11 safe=0 progress=20.8% goal=171.22m dL=0.02 ttc=23.40s tl=None credit=0 reason=
[STEP] step=0420 speed=  8.58km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=21.1% goal=170.62m dL=0.02 ttc=18.35s tl=None credit=0 reason=
[STEP] step=0440 speed= 16.84km/h thr=0.00 brk=0.24 str=-0.05 safe=0 progress=23.1% goal=166.38m dL=0.04 ttc=14.34s tl=None credit=0 reason=
[STEP] step=0460 speed=  8.74km/h thr=0.00 brk=0.31 str=-0.04 safe=0 progress=24.7% goal=162.87m dL=0.00 ttc=16.53s tl=None credit=0 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.17 safe=0 progress=25.0% goal=162.16m dL=0.00 ttc=21.94s tl=None credit=0 reason=
[STEP] step=0500 speed= 10.33km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=25.4% goal=161.30m dL=0.00 ttc=15.41s tl=None credit=0 reason=
[STEP] step=0520 speed= 15.99km/h thr=0.00 brk=0.20 str=+0.00 safe=0 progress=27.5% goal=156.87m dL=0.01 ttc=12.39s tl=None credit=0 reason=
[STEP] step=0540 speed=  8.09km/h thr=0.00 brk=0.25 str=+0.02 safe=0 progress=29.0% goal=153.57m dL=0.00 ttc=15.38s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.16 safe=0 progress=29.2% goal=153.09m dL=0.01 ttc=20.13s tl=None credit=0 reason=
[STEP] step=0580 speed= 12.26km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=29.8% goal=151.92m dL=0.01 ttc=9.66s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.18km/h thr=0.00 brk=0.17 str=-0.02 safe=0 progress=31.9% goal=147.38m dL=0.00 ttc=6.91s tl=None credit=0 reason=
[STEP] step=0620 speed=  7.60km/h thr=0.00 brk=0.22 str=+0.02 safe=0 progress=33.3% goal=144.25m dL=0.01 ttc=6.62s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.06 safe=0 progress=33.4% goal=143.94m dL=0.01 ttc=6.76s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.99km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=34.2% goal=142.41m dL=0.00 ttc=4.05s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.65km/h thr=0.24 brk=0.00 str=+0.00 safe=0 progress=36.3% goal=137.67m dL=0.02 ttc=3.21s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.05km/h thr=0.12 brk=0.00 str=-0.00 safe=0 progress=38.4% goal=133.16m dL=0.06 ttc=2.67s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.47km/h thr=0.18 brk=0.00 str=+0.06 safe=0 progress=40.5% goal=128.74m dL=0.10 ttc=2.25s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.19km/h thr=0.20 brk=0.00 str=+0.02 safe=0 progress=42.5% goal=124.27m dL=0.06 ttc=4.98s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.05km/h thr=0.19 brk=0.00 str=+0.03 safe=0 progress=44.6% goal=119.79m dL=0.06 ttc=6.96s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.50km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=46.7% goal=115.30m dL=0.05 ttc=5.29s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.02km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=48.7% goal=110.90m dL=0.01 ttc=4.14s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.33km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=50.7% goal=106.70m dL=0.07 ttc=3.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 14.55km/h thr=0.13 brk=0.00 str=+0.03 safe=0 progress=52.6% goal=102.48m dL=0.01 ttc=2.03s tl=None credit=0 reason=
[STEP] step=0860 speed= 13.61km/h thr=0.21 brk=0.00 str=-0.10 safe=0 progress=54.4% goal=98.63m dL=0.07 ttc=1.24s tl=None credit=0 reason=
[STEP] step=0880 speed= 13.60km/h thr=0.21 brk=0.00 str=-0.06 safe=0 progress=56.1% goal=94.85m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.29km/h thr=0.00 brk=0.14 str=+0.04 safe=0 progress=57.9% goal=91.05m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 14.07km/h thr=0.17 brk=0.00 str=-0.10 safe=0 progress=59.6% goal=87.34m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 14.28km/h thr=0.15 brk=0.00 str=-0.13 safe=0 progress=61.4% goal=83.50m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  9.92km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=63.0% goal=80.05m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 14.44km/h thr=0.14 brk=0.00 str=-0.11 safe=0 progress=64.6% goal=76.61m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 13.55km/h thr=0.21 brk=0.00 str=-0.14 safe=0 progress=66.3% goal=72.79m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 13.63km/h thr=0.21 brk=0.00 str=-0.02 safe=0 progress=68.1% goal=69.00m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 12.30km/h thr=0.00 brk=0.42 str=-0.23 safe=0 progress=69.8% goal=65.24m dL=0.36 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.25 safe=0 progress=70.5% goal=63.77m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed=  5.78km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=70.6% goal=63.49m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 15.99km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=72.3% goal=59.91m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed=  2.27km/h thr=0.00 brk=0.44 str=-0.10 safe=0 progress=73.7% goal=56.85m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=73.7% goal=56.85m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 14.86km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=74.7% goal=54.74m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 10.89km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=76.6% goal=50.65m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.18 safe=0 progress=77.1% goal=49.52m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed=  6.59km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=77.3% goal=49.14m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed= 15.61km/h thr=0.00 brk=0.16 str=-0.01 safe=0 progress=79.0% goal=45.42m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.15 safe=0 progress=80.3% goal=42.59m dL=0.08 ttc=29.01s tl=None credit=0 reason=
[STEP] step=1280 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=80.3% goal=42.59m dL=0.08 ttc=21.92s tl=None credit=0 reason=
[STEP] step=1300 speed= 15.97km/h thr=0.44 brk=0.00 str=-0.12 safe=1 progress=81.3% goal=40.43m dL=0.01 ttc=22.41s tl=None credit=0 reason=
[STEP] step=1320 speed= 14.22km/h thr=0.00 brk=0.40 str=-0.14 safe=0 progress=83.4% goal=35.84m dL=0.17 ttc=23.01s tl=None credit=0 reason=
[STEP] step=1340 speed= 17.20km/h thr=0.60 brk=0.00 str=-0.03 safe=0 progress=85.1% goal=32.16m dL=0.53 ttc=23.27s tl=None credit=0 reason=
[STEP] step=1360 speed= 18.29km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=87.5% goal=27.11m dL=0.85 ttc=28.01s tl=None credit=0 reason=
[STEP] step=1380 speed= 17.92km/h thr=0.22 brk=0.00 str=-0.04 safe=0 progress=89.8% goal=22.06m dL=0.90 ttc=14.17s tl=None credit=0 reason=
[STEP] step=1400 speed= 17.84km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=92.1% goal=17.08m dL=0.96 ttc=50.51s tl=None credit=0 reason=
[STEP] step=1417 speed= 17.95km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=94.1% goal=12.86m dL=1.03 ttc=748.55s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=10 R=14.53 steps=1417 success=1 progress=94.1% DS=94.05 intv=0.229 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=10 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep10.csv (1417 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 163 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 54 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=125.78m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=54 goal_idx=None route_len=213.5m spawn=(19.4,137.5,-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=213.48m 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=213.48m dL=0.00 ttc=113.48s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.81km/h thr=0.50 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=211.86m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.52km/h thr=0.00 brk=0.19 str=+0.01 safe=0 progress=3.0% goal=207.17m dL=0.06 ttc=982.21s tl=None credit=0 reason=
[STEP] step=0080 speed=  4.03km/h thr=0.00 brk=0.44 str=-0.02 safe=0 progress=4.3% goal=204.27m dL=0.14 ttc=30.90s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=4.3% goal=204.25m dL=0.14 ttc=20.88s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.09km/h thr=0.44 brk=0.00 str=+0.01 safe=1 progress=5.3% goal=202.08m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.32km/h thr=0.00 brk=0.21 str=+0.00 safe=0 progress=7.5% goal=197.53m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.25 safe=0 progress=8.6% goal=195.18m dL=0.13 ttc=48.81s tl=None credit=0 reason=
[STEP] step=0180 speed=  1.52km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=8.6% goal=195.15m dL=0.13 ttc=230.28s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.23km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=9.9% goal=192.32m dL=0.05 ttc=187.53s tl=None credit=0 reason=
[STEP] step=0220 speed= 11.82km/h thr=0.00 brk=0.25 str=-0.04 safe=0 progress=11.9% goal=187.98m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.25 safe=0 progress=12.8% goal=186.26m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed=  4.11km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=12.8% goal=186.10m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.82km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=14.4% goal=182.65m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 10.64km/h thr=0.00 brk=0.25 str=+0.00 safe=0 progress=16.3% goal=178.60m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=17.0% goal=177.26m dL=0.03 ttc=125.29s tl=None credit=0 reason=
[STEP] step=0340 speed=  5.71km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=17.1% goal=176.97m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.67km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=18.8% goal=173.34m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  8.66km/h thr=0.00 brk=0.29 str=-0.05 safe=0 progress=20.5% goal=169.82m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.15 safe=0 progress=20.7% goal=169.21m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 11.19km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=21.2% goal=168.21m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.95km/h thr=0.00 brk=0.28 str=+0.03 safe=0 progress=23.1% goal=164.10m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.13 safe=0 progress=24.3% goal=161.67m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed=  1.65km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=24.3% goal=161.64m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.44km/h thr=0.42 brk=0.00 str=-0.16 safe=1 progress=25.5% goal=158.95m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  9.97km/h thr=0.00 brk=0.31 str=-0.04 safe=0 progress=27.3% goal=155.10m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.19 safe=0 progress=27.8% goal=154.14m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  8.41km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=28.1% goal=153.56m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.22km/h thr=0.00 brk=0.24 str=+0.11 safe=0 progress=29.9% goal=149.65m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  4.31km/h thr=0.00 brk=0.34 str=-0.14 safe=0 progress=31.3% goal=146.69m dL=0.11 ttc=106.89s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=31.3% goal=146.67m dL=0.11 ttc=60.83s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.38km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=32.2% goal=144.77m dL=0.02 ttc=74.84s tl=None credit=0 reason=
[STEP] step=0660 speed= 11.13km/h thr=0.00 brk=0.30 str=-0.06 safe=0 progress=34.1% goal=140.76m dL=0.07 ttc=80.15s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.19 safe=0 progress=34.7% goal=139.39m dL=0.11 ttc=75.90s tl=None credit=0 reason=
[STEP] step=0700 speed=  6.72km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=34.9% goal=139.02m dL=0.09 ttc=102.57s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.41km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=36.6% goal=135.25m dL=0.02 ttc=201.89s tl=None credit=0 reason=
[STEP] step=0740 speed=  7.82km/h thr=0.00 brk=0.35 str=-0.08 safe=0 progress=38.2% goal=131.90m dL=0.11 ttc=69.11s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.19 safe=0 progress=38.4% goal=131.57m dL=0.12 ttc=54.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 13.02km/h thr=0.61 brk=0.00 str=-0.11 safe=1 progress=39.0% goal=130.24m dL=0.04 ttc=63.38s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.48km/h thr=0.00 brk=0.31 str=-0.05 safe=0 progress=41.0% goal=125.93m dL=0.08 ttc=79.90s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.16 safe=0 progress=42.1% goal=123.68m dL=0.12 ttc=74.60s tl=None credit=0 reason=
[STEP] step=0840 speed=  1.64km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.1% goal=123.65m dL=0.12 ttc=86.70s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.05km/h thr=0.42 brk=0.00 str=-0.06 safe=1 progress=43.4% goal=120.91m dL=0.03 ttc=151.47s tl=None credit=0 reason=
[STEP] step=0880 speed= 10.08km/h thr=0.00 brk=0.32 str=-0.07 safe=0 progress=45.2% goal=116.96m dL=0.11 ttc=206.73s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.15 safe=0 progress=45.7% goal=115.95m dL=0.12 ttc=109.00s tl=None credit=0 reason=
[STEP] step=0920 speed=  8.46km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=46.0% goal=115.36m dL=0.08 ttc=93.48s tl=None credit=0 reason=
[STEP] step=0940 speed= 15.65km/h thr=0.00 brk=0.24 str=-0.02 safe=0 progress=47.8% goal=111.37m dL=0.05 ttc=104.38s tl=None credit=0 reason=
[STEP] step=0960 speed=  5.31km/h thr=0.00 brk=0.37 str=-0.10 safe=0 progress=49.3% goal=108.33m dL=0.14 ttc=58.23s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=49.3% goal=108.29m dL=0.14 ttc=41.94s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.07km/h thr=0.44 brk=0.00 str=-0.06 safe=1 progress=50.3% goal=106.13m dL=0.00 ttc=29.82s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.60km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=52.5% goal=101.41m dL=0.05 ttc=23.45s tl=None credit=0 reason=
[STEP] step=1040 speed= 19.80km/h thr=0.38 brk=0.00 str=-0.02 safe=0 progress=54.9% goal=96.33m dL=0.12 ttc=25.12s tl=None credit=0 reason=
[STEP] step=1060 speed= 20.50km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=57.5% goal=90.72m dL=0.05 ttc=26.89s tl=None credit=0 reason=
[STEP] step=1080 speed= 21.08km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=60.2% goal=85.01m dL=0.03 ttc=59.21s tl=None credit=0 reason=
[STEP] step=1100 speed= 21.79km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=62.9% goal=79.10m dL=0.02 ttc=113.48s tl=None credit=0 reason=
[STEP] step=1120 speed= 22.40km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=65.8% goal=73.00m dL=0.03 ttc=91.04s tl=None credit=0 reason=
[STEP] step=1140 speed= 22.95km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=68.7% goal=66.74m dL=0.03 ttc=31.98s tl=None credit=0 reason=
[STEP] step=1160 speed= 23.21km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=71.7% goal=60.36m dL=0.04 ttc=33.44s tl=None credit=0 reason=
[STEP] step=1180 speed= 16.08km/h thr=0.00 brk=0.40 str=-0.04 safe=0 progress=74.4% goal=54.56m dL=0.11 ttc=29.20s tl=Red credit=0 reason=
[STEP] step=1200 speed= 18.39km/h thr=0.64 brk=0.00 str=-0.02 safe=0 progress=76.4% goal=50.44m dL=0.43 ttc=31.35s tl=None credit=0 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.02 safe=0 progress=78.2% goal=46.46m dL=0.27 ttc=20.95s tl=None credit=0 reason=
[STEP] step=1240 speed=  0.97km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=78.2% goal=46.44m dL=0.26 ttc=21.47s tl=None credit=0 reason=
[STEP] step=1260 speed= 10.40km/h thr=0.13 brk=0.00 str=-0.12 safe=0 progress=79.2% goal=44.42m dL=0.00 ttc=25.79s tl=None credit=0 reason=
[STEP] step=1280 speed=  9.97km/h thr=0.18 brk=0.00 str=-0.21 safe=0 progress=80.5% goal=41.62m dL=0.09 ttc=32.51s tl=None credit=0 reason=
[STEP] step=1300 speed=  0.64km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=81.6% goal=39.34m dL=0.16 ttc=24.32s tl=None credit=0 reason=
[STEP] step=1320 speed= 10.50km/h thr=0.15 brk=0.00 str=-0.09 safe=0 progress=82.4% goal=37.59m dL=0.13 ttc=43.57s tl=None credit=0 reason=
[STEP] step=1340 speed=  5.63km/h thr=0.00 brk=0.27 str=-0.21 safe=0 progress=83.6% goal=35.01m dL=0.20 ttc=38.05s tl=None credit=0 reason=
[STEP] step=1360 speed= 10.16km/h thr=0.20 brk=0.00 str=+0.01 safe=0 progress=84.3% goal=33.49m dL=0.15 ttc=80.38s tl=None credit=0 reason=
[STEP] step=1380 speed=  7.14km/h thr=0.00 brk=0.30 str=-0.39 safe=0 progress=85.6% goal=30.84m dL=0.24 ttc=44.95s tl=None credit=0 reason=
[STEP] step=1400 speed=  9.46km/h thr=0.42 brk=0.00 str=-0.25 safe=0 progress=86.2% goal=29.54m dL=0.13 ttc=33.86s tl=None credit=0 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.12 safe=0 progress=87.2% goal=27.31m dL=0.10 ttc=18.31s tl=None credit=0 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=87.2% goal=27.31m dL=0.10 ttc=14.44s tl=None credit=0 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=87.2% goal=27.31m dL=0.10 ttc=11.96s tl=None credit=0 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=87.2% goal=27.31m dL=0.10 ttc=10.14s tl=None credit=0 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=87.2% goal=27.31m dL=0.10 ttc=8.64s tl=None credit=0 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=87.2% goal=27.31m dL=0.10 ttc=7.38s tl=None credit=0 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.13 safe=0 progress=87.2% goal=27.31m dL=0.10 ttc=6.37s tl=None credit=0 reason=
[STEP] step=1560 speed=  3.74km/h thr=0.58 brk=0.00 str=-0.28 safe=0 progress=87.3% goal=27.13m dL=0.10 ttc=6.44s tl=None credit=0 reason=
[STEP] step=1580 speed=  8.60km/h thr=0.30 brk=0.00 str=-0.20 safe=0 progress=88.3% goal=25.00m dL=0.04 ttc=7.90s tl=None credit=0 reason=
[STEP] step=1600 speed=  8.90km/h thr=0.33 brk=0.00 str=-0.29 safe=0 progress=89.4% goal=22.66m dL=0.05 ttc=8.74s tl=None credit=0 reason=
[STEP] step=1620 speed=  9.17km/h thr=0.49 brk=0.00 str=-0.35 safe=0 progress=90.5% goal=20.28m dL=0.05 ttc=10.23s tl=None credit=0 reason=
[STEP] step=1640 speed= 13.26km/h thr=0.00 brk=0.16 str=-0.27 safe=0 progress=92.1% goal=16.92m dL=0.02 ttc=22.64s tl=None credit=0 reason=
[STEP] step=1660 speed=  3.02km/h thr=0.00 brk=0.32 str=-0.14 safe=0 progress=93.3% goal=14.22m dL=0.08 ttc=9.81s tl=None credit=0 reason=
[STEP] step=1680 speed=  0.20km/h thr=0.75 brk=0.00 str=+0.13 safe=1 progress=93.3% goal=14.22m dL=0.08 ttc=4.55s tl=None credit=0 reason=
[STEP] step=1697 speed=  9.93km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=93.9% goal=12.93m dL=0.05 ttc=23.98s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=11 R=65.26 steps=1697 success=1 progress=93.9% DS=93.95 intv=0.232 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=11 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep11.csv (1697 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 167 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 61 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=71.49m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=61 goal_idx=None route_len=205.2m spawn=(7.4,-60.9,-0.0) yaw=-0.0 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=205.23m 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=+0.00 safe=1 progress=0.0% goal=205.23m 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=0.8% goal=203.61m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.61km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=3.0% goal=199.17m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.09 safe=0 progress=3.8% goal=197.41m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.01km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=3.9% goal=197.26m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.59km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=5.6% goal=193.82m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.39km/h thr=0.00 brk=0.46 str=-0.05 safe=0 progress=7.4% goal=189.97m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.62 str=-0.17 safe=0 progress=7.8% goal=189.33m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 11.32km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=8.2% goal=188.32m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.69km/h thr=0.00 brk=0.25 str=-0.01 safe=0 progress=10.4% goal=183.81m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  5.99km/h thr=0.00 brk=0.50 str=+0.01 safe=0 progress=12.0% goal=180.70m 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=-0.01 safe=1 progress=12.0% goal=180.65m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 15.52km/h thr=0.54 brk=0.00 str=+0.01 safe=1 progress=12.9% goal=178.71m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.40km/h thr=0.00 brk=0.21 str=+0.01 safe=0 progress=15.1% goal=174.16m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.67 str=-0.12 safe=0 progress=16.2% goal=172.06m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  3.14km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=16.2% goal=171.97m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.74km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=17.8% goal=168.72m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 11.18km/h thr=0.00 brk=0.28 str=-0.04 safe=0 progress=19.8% goal=164.51m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.66 str=-0.22 safe=0 progress=20.4% goal=163.32m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed=  7.56km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=20.7% goal=162.84m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.26km/h thr=0.00 brk=0.16 str=-0.03 safe=0 progress=22.7% goal=158.74m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  8.74km/h thr=0.00 brk=0.45 str=-0.02 safe=0 progress=24.4% goal=155.09m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.22 safe=0 progress=24.7% goal=154.60m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 12.07km/h thr=0.63 brk=0.00 str=+0.00 safe=1 progress=25.2% goal=153.43m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed= 14.23km/h thr=0.00 brk=0.09 str=+0.03 safe=0 progress=27.3% goal=149.23m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 14.02km/h thr=0.14 brk=0.00 str=+0.09 safe=0 progress=29.1% goal=145.60m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.24km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=30.9% goal=141.85m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.21km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=32.7% goal=138.18m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.23km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=34.5% goal=134.51m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.21km/h thr=0.20 brk=0.00 str=+0.05 safe=0 progress=36.2% goal=130.84m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=38.0% goal=127.18m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.21km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=39.8% goal=123.51m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.01 safe=0 progress=41.6% goal=119.84m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=43.4% goal=116.18m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 13.21km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=45.2% goal=112.51m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=47.0% goal=108.84m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.21km/h thr=0.20 brk=0.00 str=+0.10 safe=0 progress=48.8% goal=105.17m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.21km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=50.5% goal=101.49m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.83km/h thr=0.36 brk=0.00 str=+0.11 safe=0 progress=52.4% goal=97.67m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.73km/h thr=0.27 brk=0.00 str=+0.11 safe=0 progress=54.6% goal=93.26m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.25km/h thr=0.60 brk=0.00 str=-0.06 safe=0 progress=56.7% goal=88.88m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed= 23.34km/h thr=0.54 brk=0.00 str=+0.01 safe=0 progress=59.4% goal=83.30m dL=0.40 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 20.89km/h thr=0.34 brk=0.00 str=-0.09 safe=0 progress=62.6% goal=76.83m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 18.48km/h thr=0.51 brk=0.00 str=-0.07 safe=0 progress=65.2% goal=71.45m dL=0.28 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0900 speed= 22.47km/h thr=0.00 brk=0.11 str=+0.04 safe=0 progress=68.1% goal=65.43m dL=0.44 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 14.42km/h thr=0.66 brk=0.00 str=-0.11 safe=0 progress=70.3% goal=60.97m dL=0.40 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 18.52km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=72.7% goal=55.97m dL=0.67 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.18km/h thr=0.26 brk=0.00 str=+0.02 safe=0 progress=75.2% goal=50.91m dL=0.71 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 13.54km/h thr=0.00 brk=0.36 str=-0.01 safe=0 progress=77.5% goal=46.17m dL=0.55 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 13.35km/h thr=0.42 brk=0.00 str=-0.19 safe=0 progress=79.1% goal=42.95m dL=0.33 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.53km/h thr=0.27 brk=0.00 str=+0.12 safe=0 progress=81.3% goal=38.32m dL=0.34 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 14.64km/h thr=0.48 brk=0.00 str=-0.11 safe=0 progress=83.5% goal=33.86m dL=0.47 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 18.83km/h thr=0.41 brk=0.00 str=+0.01 safe=0 progress=85.9% goal=29.01m dL=1.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 20.15km/h thr=0.33 brk=0.00 str=+0.03 safe=0 progress=88.5% goal=23.54m dL=1.34 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 19.26km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=91.2% goal=18.04m dL=1.33 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1120 speed= 18.19km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=93.7% goal=12.86m dL=1.37 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=12 R=-11.86 steps=1120 success=1 progress=93.7% DS=93.74 intv=0.156 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=12 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep12.csv (1120 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 169 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 86 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=32.97% dL=0.00m
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=86 goal_idx=None route_len=202.5m spawn=(-66.8,13.0,-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=33.0% goal=135.71m 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=33.0% goal=135.71m 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=33.8% goal=134.09m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 19.71km/h thr=0.40 brk=0.00 str=-0.04 safe=0 progress=36.2% goal=129.12m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed= 21.57km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=39.1% goal=123.30m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed= 13.51km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=41.6% goal=118.21m dL=0.06 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.19 safe=0 progress=42.6% goal=116.15m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  3.20km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.7% goal=116.06m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.58km/h thr=0.30 brk=0.00 str=-0.16 safe=0 progress=44.1% goal=113.22m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 10.46km/h thr=0.03 brk=0.00 str=+0.03 safe=0 progress=45.8% goal=109.65m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.09km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=47.1% goal=107.10m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  7.77km/h thr=0.24 brk=0.00 str=+0.19 safe=0 progress=48.3% goal=104.64m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  7.82km/h thr=0.14 brk=0.00 str=+0.20 safe=0 progress=49.4% goal=102.41m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed=  7.74km/h thr=0.09 brk=0.00 str=+0.20 safe=0 progress=50.5% goal=100.28m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  7.72km/h thr=0.18 brk=0.00 str=+0.18 safe=0 progress=51.4% goal=98.41m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.45km/h thr=0.24 brk=0.00 str=+0.11 safe=0 progress=52.3% goal=96.50m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  6.57km/h thr=0.00 brk=0.02 str=+0.27 safe=0 progress=53.3% goal=94.59m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed=  8.16km/h thr=0.33 brk=0.00 str=+0.38 safe=0 progress=54.2% goal=92.65m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 15.87km/h thr=0.74 brk=0.00 str=+0.12 safe=0 progress=55.8% goal=89.45m dL=0.27 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 21.08km/h thr=0.45 brk=0.00 str=+0.09 safe=0 progress=58.4% goal=84.16m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 25.40km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=61.7% goal=77.45m dL=0.38 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 18.77km/h thr=0.48 brk=0.00 str=-0.12 safe=0 progress=64.6% goal=71.63m dL=0.31 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 19.48km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=67.3% goal=66.12m dL=0.33 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 12.95km/h thr=0.00 brk=0.24 str=+0.09 safe=0 progress=69.6% goal=61.53m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.17 safe=0 progress=70.5% goal=59.69m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  4.04km/h thr=0.75 brk=0.00 str=+0.05 safe=1 progress=70.6% goal=59.53m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed= 16.30km/h thr=0.24 brk=0.00 str=+0.14 safe=0 progress=72.2% goal=56.25m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  9.18km/h thr=0.00 brk=0.38 str=+0.11 safe=0 progress=74.0% goal=52.57m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.05 safe=0 progress=74.4% goal=51.84m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 10.43km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=74.8% goal=50.97m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.35km/h thr=0.00 brk=0.24 str=+0.07 safe=0 progress=76.9% goal=46.82m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed=  7.14km/h thr=0.00 brk=0.35 str=+0.07 safe=0 progress=78.4% goal=43.71m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.19 safe=0 progress=78.5% goal=43.57m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.68km/h thr=0.42 brk=0.00 str=+0.14 safe=1 progress=79.3% goal=41.86m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 11.91km/h thr=0.00 brk=0.32 str=+0.12 safe=0 progress=81.3% goal=37.81m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.04 safe=0 progress=82.2% goal=36.12m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  4.90km/h thr=0.75 brk=0.00 str=-0.06 safe=1 progress=82.3% goal=35.91m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 15.83km/h thr=0.18 brk=0.00 str=+0.24 safe=0 progress=83.9% goal=32.53m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed=  8.24km/h thr=0.00 brk=0.33 str=+0.02 safe=0 progress=85.6% goal=29.08m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.05 safe=0 progress=85.9% goal=28.57m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 10.90km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=86.5% goal=27.43m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 12.11km/h thr=0.00 brk=0.29 str=+0.10 safe=0 progress=88.3% goal=23.74m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.01 safe=0 progress=89.2% goal=21.91m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed=  4.08km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=89.3% goal=21.76m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 14.52km/h thr=0.26 brk=0.00 str=+0.24 safe=0 progress=90.7% goal=18.76m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed=  8.23km/h thr=0.00 brk=0.30 str=+0.07 safe=0 progress=92.4% goal=15.40m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.03 safe=0 progress=92.6% goal=14.90m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed=  8.75km/h thr=0.42 brk=0.00 str=-0.10 safe=1 progress=93.1% goal=13.90m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0947 speed= 11.35km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=93.6% goal=12.92m dL=0.12 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=13 R=-15.61 steps=947 success=1 progress=93.6% DS=93.62 intv=0.237 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=13 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep13.csv (947 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 171 (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=48.17% dL=62.06m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=8 goal_idx=None route_len=210.8m 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=210.75m 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=+0.02 safe=1 progress=0.0% goal=210.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.13km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=0.8% goal=209.15m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 11.76km/h thr=0.00 brk=0.29 str=-0.02 safe=0 progress=2.8% goal=204.94m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.13 safe=0 progress=3.5% goal=203.40m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  5.70km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=3.6% goal=203.12m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.06km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=5.4% goal=199.42m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  8.65km/h thr=0.00 brk=0.37 str=-0.07 safe=0 progress=7.1% goal=195.83m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.13 safe=0 progress=7.3% goal=195.30m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 12.18km/h thr=0.75 brk=0.00 str=-0.09 safe=1 progress=7.9% goal=194.13m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 14.26km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=10.0% goal=189.78m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.19 safe=0 progress=11.2% goal=187.20m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.79km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=11.2% goal=187.18m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.09km/h thr=0.42 brk=0.00 str=-0.04 safe=1 progress=12.4% goal=184.63m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 11.29km/h thr=0.00 brk=0.29 str=-0.02 safe=0 progress=14.4% goal=180.46m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.23 safe=0 progress=15.0% goal=179.09m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  6.75km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=15.2% goal=178.72m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.88km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=17.0% goal=174.87m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  8.36km/h thr=0.00 brk=0.38 str=-0.09 safe=0 progress=18.7% goal=171.37m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.67 str=-0.16 safe=0 progress=18.9% goal=170.94m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.01km/h thr=0.55 brk=0.00 str=-0.07 safe=1 progress=19.5% goal=169.60m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.48km/h thr=0.00 brk=0.30 str=-0.01 safe=0 progress=21.6% goal=165.32m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.19 safe=0 progress=22.6% goal=163.13m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed=  2.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=22.6% goal=163.07m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.05km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=24.0% goal=160.15m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  9.62km/h thr=0.00 brk=0.35 str=-0.05 safe=0 progress=25.8% goal=156.33m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.15 safe=0 progress=26.2% goal=155.56m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 10.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=26.6% goal=154.71m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.78km/h thr=0.00 brk=0.30 str=-0.03 safe=0 progress=28.6% goal=150.55m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=29.8% goal=147.89m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  1.04km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=29.8% goal=147.88m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.43km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=31.0% goal=145.35m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed= 10.38km/h thr=0.00 brk=0.36 str=-0.05 safe=0 progress=32.9% goal=141.39m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=33.4% goal=140.41m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  8.51km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=33.7% goal=139.81m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.54km/h thr=0.00 brk=0.24 str=-0.04 safe=0 progress=35.5% goal=135.85m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.70km/h thr=0.00 brk=0.43 str=-0.14 safe=0 progress=36.9% goal=132.92m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=36.9% goal=132.92m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 15.92km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=38.1% goal=130.56m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 15.97km/h thr=0.33 brk=0.00 str=-0.07 safe=0 progress=40.2% goal=125.99m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 16.39km/h thr=0.09 brk=0.00 str=-0.10 safe=0 progress=42.3% goal=121.52m dL=0.29 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.61km/h thr=0.00 brk=0.65 str=+0.05 safe=0 progress=43.8% goal=118.38m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.29km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=43.8% goal=118.37m dL=0.22 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.52km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=45.0% goal=116.00m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 19.16km/h thr=0.57 brk=0.00 str=+0.03 safe=0 progress=47.3% goal=110.97m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 25.33km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=50.4% goal=104.62m dL=0.31 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 25.11km/h thr=0.32 brk=0.00 str=-0.02 safe=0 progress=53.7% goal=97.53m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 24.25km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=57.0% goal=90.70m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed= 24.30km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=60.2% goal=83.96m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 24.35km/h thr=0.37 brk=0.00 str=+0.00 safe=0 progress=63.4% goal=77.21m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed= 24.67km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=66.6% goal=70.39m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed= 24.73km/h thr=0.33 brk=0.00 str=+0.02 safe=0 progress=69.8% goal=63.56m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 19.51km/h thr=0.45 brk=0.00 str=-0.15 safe=0 progress=72.8% goal=57.35m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 23.31km/h thr=0.19 brk=0.00 str=+0.04 safe=0 progress=75.6% goal=51.36m dL=0.63 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 16.92km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=78.3% goal=45.78m dL=0.52 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.09km/h thr=0.34 brk=0.00 str=-0.00 safe=0 progress=80.6% goal=40.97m dL=0.81 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.76km/h thr=0.33 brk=0.00 str=+0.06 safe=0 progress=83.0% goal=35.85m dL=1.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.65km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=85.4% goal=30.69m dL=1.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.52km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=87.9% goal=25.57m dL=1.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.73km/h thr=0.32 brk=0.00 str=+0.01 safe=0 progress=90.3% goal=20.45m dL=1.29 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed= 19.53km/h thr=0.29 brk=0.00 str=+0.07 safe=0 progress=92.8% goal=15.19m dL=1.41 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1209 speed= 18.62km/h thr=0.31 brk=0.00 str=-0.01 safe=0 progress=93.9% goal=12.81m dL=1.39 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=14 R=53.45 steps=1209 success=1 progress=93.9% DS=93.92 intv=0.248 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=14 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep14.csv (1209 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 173 (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=38.52% dL=0.00m
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=77 goal_idx=None route_len=202.5m 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=38.5% goal=124.47m 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=38.5% goal=124.47m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.68km/h thr=0.50 brk=0.00 str=+0.00 safe=1 progress=39.3% goal=122.85m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.25km/h thr=0.00 brk=0.32 str=+0.26 safe=0 progress=41.5% goal=118.43m dL=0.03 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=10 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=30 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=50 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=70 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=90 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=110 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=130 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=150 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=170 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=190 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=210 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=230 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=250 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=270 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=290 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=310 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=330 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=350 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=370 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=390 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=410 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=430 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=450 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=470 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=490 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=510 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=530 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=550 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Red credit=570 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.65 str=-0.49 safe=0 progress=42.2% goal=117.08m dL=0.19 ttc=999.00s tl=Green credit=570 reason=
[STEP] step=0680 speed=  7.56km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.4% goal=116.61m dL=0.17 ttc=999.00s tl=Green credit=550 reason=
[STEP] step=0700 speed= 14.61km/h thr=0.00 brk=0.13 str=-0.10 safe=0 progress=44.2% goal=113.07m dL=0.05 ttc=999.00s tl=None credit=530 reason=
[STEP] step=0720 speed= 10.02km/h thr=0.17 brk=0.00 str=+0.10 safe=0 progress=45.8% goal=109.81m dL=0.22 ttc=999.00s tl=None credit=510 reason=
[STEP] step=0740 speed=  9.46km/h thr=0.11 brk=0.00 str=+0.07 safe=0 progress=47.1% goal=107.09m dL=0.15 ttc=999.00s tl=None credit=490 reason=
[STEP] step=0760 speed=  7.99km/h thr=0.22 brk=0.00 str=+0.18 safe=0 progress=48.3% goal=104.68m dL=0.11 ttc=999.00s tl=None credit=470 reason=
[STEP] step=0780 speed=  7.82km/h thr=0.14 brk=0.00 str=+0.20 safe=0 progress=49.4% goal=102.43m dL=0.12 ttc=999.00s tl=None credit=450 reason=
[STEP] step=0800 speed=  7.74km/h thr=0.09 brk=0.00 str=+0.20 safe=0 progress=50.5% goal=100.30m dL=0.15 ttc=999.00s tl=None credit=430 reason=
[STEP] step=0820 speed=  7.37km/h thr=0.30 brk=0.00 str=+0.26 safe=0 progress=51.3% goal=98.51m dL=0.15 ttc=999.00s tl=None credit=410 reason=
[STEP] step=0840 speed=  6.96km/h thr=0.00 brk=0.03 str=+0.11 safe=0 progress=52.3% goal=96.50m dL=0.10 ttc=999.00s tl=None credit=390 reason=
[STEP] step=0860 speed=  7.98km/h thr=0.18 brk=0.00 str=+0.26 safe=0 progress=53.1% goal=94.91m dL=0.09 ttc=999.00s tl=None credit=370 reason=
[STEP] step=0880 speed=  8.12km/h thr=0.27 brk=0.00 str=+0.38 safe=0 progress=54.2% goal=92.78m dL=0.11 ttc=999.00s tl=None credit=350 reason=
[STEP] step=0900 speed= 15.82km/h thr=0.75 brk=0.00 str=+0.12 safe=0 progress=55.7% goal=89.64m dL=0.27 ttc=999.00s tl=None credit=330 reason=
[STEP] step=0920 speed= 21.70km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=58.4% goal=84.32m dL=0.21 ttc=999.00s tl=None credit=310 reason=
[STEP] step=0940 speed= 24.47km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=61.6% goal=77.69m dL=0.32 ttc=999.00s tl=None credit=290 reason=
[STEP] step=0960 speed= 19.44km/h thr=0.53 brk=0.00 str=-0.08 safe=0 progress=64.5% goal=71.97m dL=0.30 ttc=999.00s tl=None credit=270 reason=
[STEP] step=0980 speed= 21.11km/h thr=0.14 brk=0.00 str=+0.02 safe=0 progress=67.3% goal=66.18m dL=0.41 ttc=999.00s tl=None credit=250 reason=
[STEP] step=1000 speed= 15.89km/h thr=0.00 brk=0.24 str=+0.07 safe=0 progress=69.8% goal=61.04m dL=0.09 ttc=999.00s tl=None credit=230 reason=
[STEP] step=1020 speed=  7.04km/h thr=0.00 brk=0.40 str=+0.05 safe=0 progress=71.4% goal=57.84m dL=0.03 ttc=999.00s tl=None credit=210 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.18 safe=0 progress=71.5% goal=57.70m dL=0.04 ttc=999.00s tl=None credit=190 reason=
[STEP] step=1060 speed= 14.08km/h thr=0.42 brk=0.00 str=+0.08 safe=1 progress=72.3% goal=55.98m dL=0.05 ttc=999.00s tl=None credit=170 reason=
[STEP] step=1080 speed= 12.34km/h thr=0.00 brk=0.30 str=+0.10 safe=0 progress=74.4% goal=51.81m dL=0.11 ttc=999.00s tl=None credit=150 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.04 safe=0 progress=75.3% goal=49.94m dL=0.15 ttc=999.00s tl=None credit=130 reason=
[STEP] step=1120 speed=  3.19km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=75.4% goal=49.83m dL=0.14 ttc=999.00s tl=None credit=110 reason=
[STEP] step=1140 speed= 16.18km/h thr=0.30 brk=0.00 str=+0.17 safe=0 progress=76.9% goal=46.71m dL=0.07 ttc=999.00s tl=None credit=90 reason=
[STEP] step=1160 speed=  9.63km/h thr=0.00 brk=0.33 str=-0.04 safe=0 progress=78.8% goal=42.93m dL=0.17 ttc=999.00s tl=None credit=70 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.03 safe=0 progress=79.2% goal=42.04m dL=0.17 ttc=999.00s tl=None credit=50 reason=
[STEP] step=1200 speed=  9.33km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=79.6% goal=41.33m dL=0.14 ttc=999.00s tl=None credit=30 reason=
[STEP] step=1220 speed= 14.56km/h thr=0.00 brk=0.32 str=+0.07 safe=0 progress=81.5% goal=37.39m dL=0.07 ttc=999.00s tl=None credit=10 reason=
[STEP] step=1240 speed=  1.05km/h thr=0.00 brk=0.38 str=+0.00 safe=0 progress=82.9% goal=34.60m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=82.9% goal=34.59m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed= 14.13km/h thr=0.42 brk=0.00 str=+0.16 safe=1 progress=83.9% goal=32.50m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed= 10.84km/h thr=0.00 brk=0.27 str=+0.11 safe=0 progress=85.9% goal=28.60m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.00 safe=0 progress=86.5% goal=27.32m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed=  6.60km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=86.7% goal=26.94m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed= 14.52km/h thr=0.00 brk=0.08 str=+0.10 safe=0 progress=88.4% goal=23.58m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed=  6.62km/h thr=0.00 brk=0.32 str=+0.10 safe=0 progress=89.8% goal=20.60m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed=  0.08km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=89.9% goal=20.54m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 12.45km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=90.7% goal=18.75m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1440 speed= 11.27km/h thr=0.00 brk=0.31 str=+0.14 safe=0 progress=92.6% goal=14.99m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.05 safe=0 progress=93.3% goal=13.47m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  4.77km/h thr=0.63 brk=0.00 str=-0.10 safe=1 progress=93.5% goal=13.26m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1483 speed=  6.67km/h thr=0.42 brk=0.00 str=+0.06 safe=1 progress=93.6% goal=13.01m dL=0.13 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=15 R=201.95 steps=1483 success=1 progress=93.6% DS=93.57 intv=0.143 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=15 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep15.csv (1483 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 175 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 82 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=100.00% dL=36.28m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=82 goal_idx=None route_len=205.3m 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=0.08 str=-0.07 safe=0 progress=0.0% goal=205.24m 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=205.24m dL=0.00 ttc=329.81s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=203.63m dL=0.00 ttc=64.39s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.80km/h thr=0.06 brk=0.00 str=+0.07 safe=0 progress=3.0% goal=199.07m dL=0.02 ttc=66.68s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.74km/h thr=0.13 brk=0.00 str=+0.06 safe=0 progress=5.0% goal=194.95m dL=0.06 ttc=62.86s tl=None credit=0 reason=
[STEP] step=0100 speed=  9.12km/h thr=0.00 brk=0.31 str=-0.00 safe=0 progress=6.8% goal=191.32m dL=0.08 ttc=85.21s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.28 safe=0 progress=7.1% goal=190.64m dL=0.10 ttc=135.16s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.40km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=7.5% goal=189.79m dL=0.06 ttc=127.48s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.51km/h thr=0.00 brk=0.21 str=+0.02 safe=0 progress=9.7% goal=185.40m dL=0.06 ttc=149.90s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.25km/h thr=0.00 brk=0.39 str=+0.02 safe=0 progress=11.2% goal=182.27m dL=0.10 ttc=451.85s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.27 safe=0 progress=11.3% goal=182.08m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 14.79km/h thr=0.63 brk=0.00 str=+0.02 safe=1 progress=12.1% goal=180.34m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 13.79km/h thr=0.00 brk=0.25 str=-0.02 safe=0 progress=14.4% goal=175.77m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.17 safe=0 progress=15.6% goal=173.29m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.76km/h thr=0.75 brk=0.00 str=-0.07 safe=1 progress=15.6% goal=173.27m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=16.9% goal=170.65m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 12.23km/h thr=0.00 brk=0.19 str=-0.02 safe=0 progress=19.0% goal=166.25m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.14 safe=0 progress=19.9% goal=164.33m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  3.17km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=20.0% goal=164.22m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 17.71km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=21.6% goal=160.96m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 11.29km/h thr=0.00 brk=0.23 str=+0.00 safe=0 progress=23.6% goal=156.75m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.12 safe=0 progress=24.4% goal=155.15m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  4.89km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=24.5% goal=154.94m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 17.88km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=26.3% goal=151.30m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 10.49km/h thr=0.00 brk=0.20 str=+0.05 safe=0 progress=28.2% goal=147.31m dL=0.01 ttc=275.04s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.13 safe=0 progress=28.8% goal=146.06m dL=0.02 ttc=68.68s tl=None credit=0 reason=
[STEP] step=0520 speed=  6.80km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=29.0% goal=145.68m dL=0.01 ttc=90.42s tl=None credit=0 reason=
[STEP] step=0540 speed= 17.60km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=31.0% goal=141.71m dL=0.02 ttc=255.09s tl=None credit=0 reason=
[STEP] step=0560 speed=  9.79km/h thr=0.00 brk=0.25 str=+0.06 safe=0 progress=32.8% goal=137.94m dL=0.01 ttc=81.14s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.22 safe=0 progress=33.3% goal=136.92m dL=0.01 ttc=42.01s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.48km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=33.6% goal=136.33m dL=0.01 ttc=59.51s tl=None credit=0 reason=
[STEP] step=0620 speed= 17.10km/h thr=0.00 brk=0.08 str=-0.07 safe=0 progress=35.7% goal=132.07m dL=0.01 ttc=200.22s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.36km/h thr=0.42 brk=0.00 str=+0.04 safe=0 progress=37.6% goal=128.01m dL=0.05 ttc=489.76s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.15km/h thr=0.31 brk=0.00 str=-0.05 safe=0 progress=39.8% goal=123.54m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 14.99km/h thr=0.20 brk=0.00 str=-0.00 safe=0 progress=41.9% goal=119.25m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 11.83km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=43.8% goal=115.35m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  6.37km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=45.0% goal=112.98m dL=0.09 ttc=163.96s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.21km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=46.3% goal=110.30m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.31km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=48.1% goal=106.51m dL=0.05 ttc=671.40s tl=None credit=0 reason=
[STEP] step=0780 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.05 safe=0 progress=49.9% goal=102.84m dL=0.04 ttc=983.89s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.00 safe=0 progress=51.7% goal=99.17m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed= 13.23km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=53.5% goal=95.50m dL=0.04 ttc=236.56s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=55.3% goal=91.84m dL=0.03 ttc=121.63s tl=None credit=0 reason=
[STEP] step=0860 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=57.0% goal=88.17m dL=0.03 ttc=90.23s tl=None credit=0 reason=
[STEP] step=0880 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=58.8% goal=84.51m dL=0.02 ttc=77.34s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=60.6% goal=80.84m dL=0.02 ttc=73.52s tl=None credit=0 reason=
[STEP] step=0920 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=62.4% goal=77.17m dL=0.01 ttc=53.09s tl=None credit=0 reason=
[STEP] step=0940 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.08 safe=0 progress=64.2% goal=73.50m dL=0.00 ttc=40.41s tl=None credit=0 reason=
[STEP] step=0960 speed= 13.22km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=66.0% goal=69.83m dL=0.01 ttc=37.43s tl=None credit=0 reason=
[STEP] step=0980 speed= 13.23km/h thr=0.20 brk=0.00 str=+0.06 safe=0 progress=67.8% goal=66.15m dL=0.02 ttc=34.89s tl=None credit=0 reason=
[STEP] step=1000 speed= 14.65km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=69.6% goal=62.32m dL=0.05 ttc=31.36s tl=None credit=0 reason=
[STEP] step=1020 speed= 15.99km/h thr=0.18 brk=0.00 str=+0.12 safe=0 progress=71.8% goal=57.90m dL=0.07 ttc=27.47s tl=None credit=0 reason=
[STEP] step=1040 speed= 18.52km/h thr=0.40 brk=0.00 str=-0.05 safe=0 progress=74.1% goal=53.15m dL=0.07 ttc=25.76s tl=None credit=0 reason=
[STEP] step=1060 speed= 20.86km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=76.8% goal=47.66m dL=0.53 ttc=21.48s tl=None credit=0 reason=
[STEP] step=1080 speed= 14.44km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=79.1% goal=42.90m dL=0.38 ttc=25.41s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.22km/h thr=0.40 brk=0.00 str=+0.11 safe=0 progress=81.4% goal=38.21m dL=0.75 ttc=22.25s tl=Green credit=0 reason=
[STEP] step=1120 speed= 17.73km/h thr=0.00 brk=0.08 str=+0.09 safe=0 progress=83.9% goal=32.98m dL=0.70 ttc=20.68s tl=None credit=0 reason=
[STEP] step=1140 speed= 15.07km/h thr=0.22 brk=0.00 str=-0.04 safe=0 progress=86.0% goal=28.75m dL=0.61 ttc=22.49s tl=None credit=0 reason=
[STEP] step=1160 speed= 16.31km/h thr=0.30 brk=0.00 str=+0.00 safe=0 progress=88.1% goal=24.45m dL=0.77 ttc=20.99s tl=None credit=0 reason=
[STEP] step=1180 speed= 17.62km/h thr=0.29 brk=0.00 str=+0.06 safe=0 progress=90.4% goal=19.71m dL=0.92 ttc=19.25s tl=None credit=0 reason=
[STEP] step=1200 speed= 17.57km/h thr=0.08 brk=0.00 str=+0.18 safe=0 progress=92.8% goal=14.76m dL=0.99 ttc=18.23s tl=None credit=0 reason=
[STEP] step=1209 speed= 13.04km/h thr=0.00 brk=0.55 str=-0.03 safe=0 progress=93.8% goal=12.82m dL=0.85 ttc=21.65s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=16 R=21.99 steps=1209 success=1 progress=93.8% DS=93.76 intv=0.165 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=16 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep16.csv (1209 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 179 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 125 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=49.14% dL=35.40m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=1 weather=mixed spawn_idx=125 goal_idx=None route_len=216.3m spawn=(-114.2,43.8,-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=216.27m 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=216.27m 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=0.7% goal=214.66m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.73km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.8% goal=210.19m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.15 safe=0 progress=3.7% goal=208.28m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.05km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=3.8% goal=208.13m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.97km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=5.4% goal=204.67m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.10 safe=0 progress=6.2% goal=202.84m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  7.62km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=6.4% goal=202.36m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.31km/h thr=0.00 brk=0.16 str=+0.00 safe=0 progress=8.3% goal=198.25m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed=  8.55km/h thr=0.00 brk=0.41 str=-0.05 safe=0 progress=10.0% goal=194.68m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.10 safe=0 progress=10.2% goal=194.18m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 12.16km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=10.8% goal=193.01m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.25km/h thr=0.00 brk=0.31 str=+0.01 safe=0 progress=12.8% goal=188.64m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.09 safe=0 progress=13.9% goal=186.26m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  1.64km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=13.9% goal=186.23m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.43km/h thr=0.42 brk=0.00 str=-0.03 safe=1 progress=15.2% goal=183.44m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 10.85km/h thr=0.00 brk=0.28 str=-0.03 safe=0 progress=17.1% goal=179.35m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.18 safe=0 progress=17.7% goal=178.09m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  6.65km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=17.8% goal=177.72m dL=0.09 ttc=563.95s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.90km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=19.6% goal=173.87m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed=  8.47km/h thr=0.00 brk=0.34 str=-0.08 safe=0 progress=21.2% goal=170.37m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.15 safe=0 progress=21.4% goal=169.90m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 12.23km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=22.0% goal=168.74m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.40km/h thr=0.00 brk=0.23 str=-0.02 safe=0 progress=24.0% goal=164.39m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.16 safe=0 progress=25.3% goal=161.65m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.41km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=25.3% goal=161.65m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.78km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=26.3% goal=159.29m dL=0.01 ttc=490.70s tl=None credit=0 reason=
[STEP] step=0560 speed= 11.84km/h thr=0.00 brk=0.25 str=-0.03 safe=0 progress=28.3% goal=155.06m dL=0.10 ttc=750.29s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.24 safe=0 progress=29.1% goal=153.43m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  4.88km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=29.2% goal=153.21m dL=0.12 ttc=730.98s tl=None credit=0 reason=
[STEP] step=0620 speed= 17.07km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=30.8% goal=149.69m dL=0.01 ttc=372.30s tl=None credit=0 reason=
[STEP] step=0640 speed=  9.42km/h thr=0.00 brk=0.34 str=-0.10 safe=0 progress=32.5% goal=145.94m dL=0.13 ttc=392.68s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.64 str=-0.20 safe=0 progress=32.9% goal=145.20m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 10.22km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=33.2% goal=144.36m dL=0.07 ttc=275.93s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.74km/h thr=0.00 brk=0.27 str=-0.03 safe=0 progress=35.2% goal=140.22m dL=0.11 ttc=255.28s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.19 safe=0 progress=36.4% goal=137.55m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  1.03km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=36.4% goal=137.53m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 15.83km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=37.6% goal=134.99m dL=0.02 ttc=159.10s tl=None credit=0 reason=
[STEP] step=0780 speed= 10.81km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=39.5% goal=130.91m dL=0.16 ttc=204.83s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.22 safe=0 progress=40.0% goal=129.74m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  7.55km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=40.2% goal=129.27m dL=0.14 ttc=215.11s tl=None credit=0 reason=
[STEP] step=0840 speed= 16.03km/h thr=0.00 brk=0.16 str=+0.06 safe=0 progress=42.0% goal=125.39m dL=0.05 ttc=124.23s tl=None credit=0 reason=
[STEP] step=0860 speed=  6.88km/h thr=0.00 brk=0.41 str=-0.12 safe=0 progress=43.5% goal=122.25m dL=0.16 ttc=213.74s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=43.5% goal=122.16m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 14.62km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=44.4% goal=120.26m dL=0.03 ttc=87.41s tl=None credit=0 reason=
[STEP] step=0920 speed= 11.69km/h thr=0.00 brk=0.37 str=-0.04 safe=0 progress=46.3% goal=116.10m dL=0.16 ttc=113.76s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.16 safe=0 progress=47.0% goal=114.70m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed=  5.74km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=47.1% goal=114.42m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.13km/h thr=0.00 brk=0.08 str=+0.04 safe=0 progress=48.8% goal=110.81m dL=0.08 ttc=342.26s tl=None credit=0 reason=
[STEP] step=1000 speed=  6.27km/h thr=0.00 brk=0.42 str=-0.11 safe=0 progress=50.2% goal=107.64m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=50.3% goal=107.59m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 14.80km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=51.1% goal=105.65m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 11.69km/h thr=0.00 brk=0.42 str=-0.04 safe=0 progress=53.1% goal=101.46m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.16 safe=0 progress=53.7% goal=100.08m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed=  6.75km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=53.9% goal=99.70m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 17.63km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=55.7% goal=95.74m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.39km/h thr=0.44 brk=0.00 str=-0.01 safe=0 progress=58.0% goal=90.82m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 21.35km/h thr=0.41 brk=0.00 str=+0.00 safe=0 progress=60.6% goal=85.31m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed= 22.75km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=63.4% goal=79.14m dL=0.07 ttc=159.03s tl=None credit=0 reason=
[STEP] step=1200 speed= 23.02km/h thr=0.37 brk=0.00 str=+0.00 safe=0 progress=66.4% goal=72.77m dL=0.10 ttc=87.13s tl=None credit=0 reason=
[STEP] step=1220 speed= 23.55km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=69.3% goal=66.31m dL=0.13 ttc=58.38s tl=None credit=0 reason=
[STEP] step=1240 speed= 23.85km/h thr=0.38 brk=0.00 str=+0.01 safe=0 progress=72.4% goal=59.76m dL=0.24 ttc=43.25s tl=None credit=0 reason=
[STEP] step=1260 speed= 17.65km/h thr=0.36 brk=0.00 str=-0.09 safe=0 progress=75.0% goal=53.97m dL=0.32 ttc=40.09s tl=None credit=0 reason=
[STEP] step=1280 speed= 20.34km/h thr=0.22 brk=0.00 str=+0.01 safe=0 progress=77.5% goal=48.66m dL=0.61 ttc=41.63s tl=None credit=0 reason=
[STEP] step=1300 speed= 17.77km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=79.9% goal=43.46m dL=0.58 ttc=52.47s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.08km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=82.2% goal=38.48m dL=0.76 ttc=62.49s tl=None credit=0 reason=
[STEP] step=1340 speed= 18.16km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=84.5% goal=33.45m dL=0.92 ttc=90.13s tl=None credit=0 reason=
[STEP] step=1360 speed= 18.15km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=86.9% goal=28.42m dL=1.01 ttc=169.79s tl=None credit=0 reason=
[STEP] step=1380 speed= 18.07km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=89.2% goal=23.40m dL=1.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.13km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=91.5% goal=18.37m dL=1.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.12km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=93.8% goal=13.32m dL=1.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1422 speed= 18.27km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=94.1% goal=12.82m dL=1.24 ttc=999.00s tl=None credit=0 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=17 R=77.79 steps=1422 success=1 progress=94.1% DS=94.07 intv=0.281 reason=goal
[Town10HD_Opt_zeroshot_source_agent] ep=17 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep17.csv (1422 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 182 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 19 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=0.00% dL=132.59m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=19 goal_idx=None route_len=213.5m spawn=(45.8,137.6,-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=213.48m 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=213.48m 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=0.8% goal=211.86m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.61km/h thr=0.00 brk=0.29 str=-0.01 safe=0 progress=2.8% goal=207.42m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.17 safe=0 progress=3.6% goal=205.75m 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=-0.03 safe=1 progress=3.7% goal=205.53m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.78km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=5.4% goal=202.04m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  8.04km/h thr=0.00 brk=0.50 str=-0.01 safe=0 progress=7.0% goal=198.46m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.66 str=-0.08 safe=0 progress=7.2% goal=198.17m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed= 13.47km/h thr=0.42 brk=0.00 str=-0.05 safe=1 progress=7.9% goal=196.65m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed= 12.58km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=9.8% goal=192.50m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.16 safe=0 progress=10.7% goal=190.64m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  4.13km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=10.8% goal=190.49m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.13km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=12.3% goal=187.24m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  8.64km/h thr=0.00 brk=0.37 str=-0.16 safe=0 progress=14.0% goal=183.67m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.16 safe=0 progress=14.2% goal=183.15m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 12.10km/h thr=0.63 brk=0.00 str=-0.18 safe=1 progress=14.7% goal=181.99m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 13.48km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=16.7% goal=177.85m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=17.7% goal=175.66m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed=  2.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=17.7% goal=175.60m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.78km/h thr=0.36 brk=0.00 str=-0.11 safe=0 progress=19.1% goal=172.72m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed=  9.54km/h thr=0.00 brk=0.34 str=-0.13 safe=0 progress=20.9% goal=168.93m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=21.2% goal=168.18m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 10.25km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=21.6% goal=167.33m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 14.72km/h thr=0.00 brk=0.30 str=-0.00 safe=0 progress=23.6% goal=163.18m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=24.8% goal=160.52m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.95km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=24.8% goal=160.51m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.73km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=26.0% goal=157.96m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 10.76km/h thr=0.00 brk=0.35 str=-0.04 safe=0 progress=27.9% goal=153.90m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.21 safe=0 progress=28.4% goal=152.78m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  7.57km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=28.7% goal=152.30m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.09km/h thr=0.00 brk=0.16 str=+0.09 safe=0 progress=30.5% goal=148.42m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed=  7.09km/h thr=0.00 brk=0.42 str=-0.10 safe=0 progress=32.0% goal=145.23m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=32.0% goal=145.13m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed= 14.72km/h thr=0.42 brk=0.00 str=-0.08 safe=1 progress=32.9% goal=143.21m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 11.90km/h thr=0.00 brk=0.33 str=-0.08 safe=0 progress=34.9% goal=139.02m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.19 safe=0 progress=35.6% goal=137.53m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  5.81km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.7% goal=137.24m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 17.34km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=37.5% goal=133.51m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.29km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=39.6% goal=128.97m dL=0.23 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0800 speed= 14.86km/h thr=0.00 brk=0.24 str=-0.02 safe=0 progress=41.7% goal=124.53m dL=0.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.73 str=-0.21 safe=0 progress=42.8% goal=122.19m dL=0.31 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0840 speed=  2.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.8% goal=122.13m dL=0.30 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0860 speed= 17.45km/h thr=0.36 brk=0.00 str=-0.06 safe=0 progress=44.2% goal=119.10m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0880 speed= 20.76km/h thr=0.53 brk=0.00 str=-0.04 safe=0 progress=46.6% goal=113.94m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 26.16km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=49.8% goal=107.23m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0920 speed= 24.70km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=53.1% goal=100.17m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0940 speed= 24.42km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=56.3% goal=93.38m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0960 speed= 24.64km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=59.5% goal=86.56m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0980 speed= 19.64km/h thr=0.41 brk=0.00 str=-0.12 safe=0 progress=62.4% goal=80.25m dL=0.11 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=1000 speed= 21.68km/h thr=0.00 brk=0.16 str=+0.26 safe=0 progress=65.2% goal=74.38m dL=0.24 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.43 safe=0 progress=65.9% goal=72.81m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1040 speed=  9.53km/h thr=0.45 brk=0.00 str=-0.19 safe=0 progress=66.3% goal=71.97m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1060 speed= 10.45km/h thr=0.51 brk=0.00 str=-0.18 safe=1 progress=67.7% goal=68.90m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed=  7.77km/h thr=0.00 brk=0.27 str=-0.17 safe=0 progress=69.1% goal=65.99m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1100 speed=  9.33km/h thr=0.36 brk=0.00 str=-0.24 safe=0 progress=69.8% goal=64.57m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1120 speed=  9.06km/h thr=0.00 brk=0.27 str=-0.18 safe=0 progress=71.1% goal=61.75m dL=0.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.29 safe=0 progress=71.4% goal=60.95m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1160 speed=  7.19km/h thr=0.48 brk=0.00 str=-0.26 safe=0 progress=71.7% goal=60.34m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1180 speed=  7.12km/h thr=0.00 brk=0.28 str=-0.23 safe=0 progress=72.9% goal=57.84m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1432 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.15 safe=0 progress=73.0% goal=57.69m dL=0.17 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=18 R=151.77 steps=1432 success=0 progress=73.0% DS=0.00 intv=0.232 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=18 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep18.csv (1432 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 184 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 137 in Town10HD_Opt; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=22.22% dL=42.66m; rebuilding from settled ego pose
[RESET] town=Town10HD_Opt npc=2 weather=mixed spawn_idx=137 goal_idx=None route_len=213.4m spawn=(-45.1,55.7,-0.0) yaw=-90.2 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=213.45m 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=213.45m 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=0.8% goal=211.82m dL=0.00 ttc=131.31s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.18km/h thr=0.00 brk=0.14 str=+0.00 safe=0 progress=2.9% goal=207.35m dL=0.09 ttc=999.00s tl=Yellow credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.25 safe=0 progress=4.0% goal=205.01m dL=0.14 ttc=999.00s tl=Yellow credit=0 reason=
[STEP] step=0100 speed=  0.87km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=4.0% goal=205.00m dL=0.14 ttc=999.00s tl=Yellow credit=0 reason=
[STEP] step=0120 speed= 12.83km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=5.1% goal=202.66m dL=0.05 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.42km/h thr=0.00 brk=0.09 str=+0.12 safe=0 progress=7.0% goal=198.44m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.44km/h thr=0.00 brk=0.16 str=+0.05 safe=0 progress=9.1% goal=194.05m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  8.26km/h thr=0.00 brk=0.36 str=+0.04 safe=0 progress=10.7% goal=190.63m dL=0.05 ttc=147.46s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.24 safe=0 progress=10.9% goal=190.20m dL=0.06 ttc=44.38s tl=None credit=0 reason=
[STEP] step=0220 speed= 13.15km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=11.5% goal=188.84m dL=0.03 ttc=67.93s tl=None credit=0 reason=
[STEP] step=0240 speed= 14.79km/h thr=0.00 brk=0.22 str=-0.02 safe=0 progress=13.7% goal=184.25m dL=0.04 ttc=66.21s tl=None credit=0 reason=
[STEP] step=0260 speed=  6.78km/h thr=0.00 brk=0.35 str=+0.01 safe=0 progress=15.1% goal=181.29m dL=0.02 ttc=40.51s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=15.1% goal=181.19m dL=0.02 ttc=29.57s tl=None credit=0 reason=
[STEP] step=0300 speed= 15.53km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=16.0% goal=179.25m dL=0.01 ttc=120.10s tl=None credit=0 reason=
[STEP] step=0320 speed= 13.32km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=18.1% goal=174.71m dL=0.02 ttc=122.73s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.16 safe=0 progress=19.3% goal=172.33m dL=0.01 ttc=35.65s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.85km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=19.3% goal=172.31m dL=0.01 ttc=39.68s tl=None credit=0 reason=
[STEP] step=0380 speed= 16.93km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=20.5% goal=169.70m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 12.22km/h thr=0.00 brk=0.23 str=+0.00 safe=0 progress=22.6% goal=165.29m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.14 safe=0 progress=23.5% goal=163.38m dL=0.00 ttc=59.71s tl=None credit=0 reason=
[STEP] step=0440 speed=  3.15km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=23.5% goal=163.28m dL=0.00 ttc=161.65s tl=None credit=0 reason=
[STEP] step=0460 speed= 17.69km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=25.0% goal=160.03m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 11.04km/h thr=0.00 brk=0.23 str=-0.03 safe=0 progress=27.0% goal=155.88m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.13 safe=0 progress=27.7% goal=154.40m dL=0.00 ttc=693.96s tl=None credit=0 reason=
[STEP] step=0520 speed=  5.84km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=27.8% goal=154.11m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed= 17.73km/h thr=0.12 brk=0.00 str=+0.03 safe=0 progress=29.6% goal=150.32m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed=  9.91km/h thr=0.00 brk=0.19 str=+0.02 safe=0 progress=31.4% goal=146.48m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.12 safe=0 progress=31.9% goal=145.45m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.48km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=32.1% goal=144.86m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 16.94km/h thr=0.00 brk=0.08 str=-0.07 safe=0 progress=34.1% goal=140.63m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0640 speed=  9.45km/h thr=0.00 brk=0.29 str=+0.00 safe=0 progress=35.8% goal=136.99m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.15 safe=0 progress=36.2% goal=136.11m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.39km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=36.6% goal=135.39m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 17.20km/h thr=0.14 brk=0.00 str=-0.04 safe=0 progress=38.6% goal=131.04m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.63km/h thr=0.21 brk=0.00 str=-0.02 safe=0 progress=40.7% goal=126.50m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 16.60km/h thr=0.28 brk=0.00 str=-0.02 safe=0 progress=42.9% goal=121.95m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.00km/h thr=0.00 brk=0.64 str=-0.08 safe=0 progress=45.0% goal=117.47m dL=0.07 ttc=999.00s tl=Red credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=519.24s tl=Red credit=11 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=365.40s tl=Red credit=31 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=395.00s tl=Red credit=51 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=462.94s tl=Red credit=71 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=999.00s tl=Red credit=91 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=165.79s tl=Red credit=111 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=91.33s tl=Red credit=131 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=59.01s tl=Red credit=151 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=44.97s tl=Red credit=171 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=38.69s tl=Red credit=191 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=37.07s tl=Red credit=211 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.05 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=37.19s tl=Red credit=231 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=32.92s tl=Red credit=251 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.78 str=-0.02 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=29.47s tl=Red credit=271 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.05 safe=0 progress=45.5% goal=116.25m dL=0.04 ttc=26.19s tl=Green credit=279 reason=
[STEP] step=1080 speed=  3.93km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=45.6% goal=116.10m dL=0.04 ttc=28.82s tl=Green credit=259 reason=
[STEP] step=1100 speed= 14.62km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=47.0% goal=113.11m dL=0.11 ttc=52.91s tl=Green credit=239 reason=
[STEP] step=1120 speed=  8.17km/h thr=0.00 brk=0.29 str=-0.15 safe=0 progress=48.5% goal=109.85m dL=0.25 ttc=29.17s tl=None credit=219 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.11 safe=0 progress=48.8% goal=109.39m dL=0.21 ttc=20.51s tl=None credit=199 reason=
[STEP] step=1160 speed= 10.96km/h thr=0.39 brk=0.00 str=-0.10 safe=0 progress=49.3% goal=108.25m dL=0.16 ttc=40.59s tl=None credit=179 reason=
[STEP] step=1180 speed=  7.41km/h thr=0.00 brk=0.14 str=-0.23 safe=0 progress=50.6% goal=105.45m dL=0.12 ttc=35.58s tl=None credit=159 reason=
[STEP] step=1200 speed=  6.85km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.0% goal=104.54m dL=0.05 ttc=41.37s tl=None credit=139 reason=
[STEP] step=1220 speed=  9.02km/h thr=0.00 brk=0.13 str=-0.18 safe=0 progress=52.3% goal=101.74m dL=0.11 ttc=51.57s tl=None credit=119 reason=
[STEP] step=1240 speed=  3.80km/h thr=0.52 brk=0.00 str=-0.25 safe=0 progress=52.9% goal=100.59m dL=0.05 ttc=24.69s tl=None credit=99 reason=
[STEP] step=1260 speed=  7.38km/h thr=0.00 brk=0.15 str=-0.22 safe=0 progress=53.9% goal=98.47m dL=0.03 ttc=16.24s tl=None credit=79 reason=
[STEP] step=1280 speed=  5.44km/h thr=0.52 brk=0.00 str=-0.27 safe=0 progress=54.2% goal=97.70m dL=0.01 ttc=14.97s tl=None credit=59 reason=
[STEP] step=1300 speed=  9.89km/h thr=0.00 brk=0.17 str=-0.10 safe=0 progress=55.4% goal=95.30m dL=0.05 ttc=29.77s tl=None credit=39 reason=
[STEP] step=1320 speed=  1.01km/h thr=0.30 brk=0.00 str=-0.16 safe=0 progress=56.1% goal=93.80m dL=0.02 ttc=34.73s tl=None credit=19 reason=
[STEP] step=1340 speed=  8.41km/h thr=0.00 brk=0.15 str=-0.15 safe=0 progress=56.8% goal=92.31m dL=0.04 ttc=67.34s tl=None credit=0 reason=
[STEP] step=1360 speed=  1.33km/h thr=0.42 brk=0.00 str=-0.18 safe=0 progress=57.3% goal=91.16m dL=0.00 ttc=74.78s tl=None credit=0 reason=
[STEP] step=1380 speed=  9.61km/h thr=0.30 brk=0.00 str=-0.21 safe=0 progress=58.1% goal=89.47m dL=0.02 ttc=265.41s tl=None credit=0 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=218.51s tl=None credit=0 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=473.31s tl=None credit=0 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1645 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.13 safe=0 progress=58.9% goal=87.64m dL=0.02 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=19 R=249.75 steps=1645 success=0 progress=58.9% DS=0.00 intv=0.152 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=19 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep19.csv (1645 points)
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 188 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 13 in Town10HD_Opt; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=68.01% dL=3.51m
[RESET] town=Town10HD_Opt npc=0 weather=mixed spawn_idx=13 goal_idx=None route_len=202.5m spawn=(-110.0,-23.4,-0.0) yaw=92.2 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=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0040 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0250 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.58 safe=0 progress=68.0% goal=64.77m dL=3.51 ttc=999.00s tl=None credit=0 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=20 R=46.18 steps=250 success=0 progress=68.0% DS=0.00 intv=0.000 reason=stuck
[Town10HD_Opt_zeroshot_source_agent] ep=20 trajectory saved → /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town10HD_Opt_zeroshot_source_agent_traj_ep20.csv (250 points)
[Town10HD_Opt_zeroshot_source_agent] avgR=86.15 SR=70.0% avgDS=65.61 avgIS=0.700 intv=0.166 coll/km=0.0000 off/km=0.0000 to/km=1.8660
==========================================================================================
Final summary for Town10HD_Opt: SR=70.0% DS=65.61 IS=0.700 coll/km=0.0000 off/km=0.0000 to/km=1.8660
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 190 (sensor.other.collision) 
