[CFG] route_target_length overridden to 150 m (soft window 141–162 m)
Mode: eval
Device: cpu
GlobalRoutePlanner available: True
Python: 3.10.19
Source town: Town10HD_Opt | goal=40 | NPC=[8, 20]
Target town: Town02 | goal=auto | NPC=[8, 15]
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: True
Output dir: /home/umb/Desktop/car2/culrt_carla_0915_aligned
Auto-selected route target length: 150m ± 15m
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 Town02 | goal=auto | weather=mixed
[OK] Connected to CARLA | host=localhost port=2200 town=Town02 sync=True dt=0.050s weather=mixed fixed_goal_index=-1
Resolved target env town: Town02
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=61.50s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=12.14s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.56km/h thr=0.00 brk=0.19 str=-0.01 safe=0 progress=23.4% goal=164.10m dL=0.02 ttc=10.73s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.19 safe=0 progress=24.3% goal=162.07m dL=0.00 ttc=24.99s tl=None credit=0 reason=
[STEP] step=0100 speed=  2.42km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=24.3% goal=162.01m dL=0.00 ttc=24.87s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.62km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=25.8% goal=158.96m dL=0.01 ttc=11.47s tl=None credit=0 reason=
[STEP] step=0140 speed= 11.71km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=27.8% goal=154.66m dL=0.01 ttc=10.13s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.14 safe=0 progress=28.5% goal=153.00m dL=0.00 ttc=13.38s tl=None credit=0 reason=
[STEP] step=0180 speed=  4.91km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=28.6% goal=152.78m dL=0.00 ttc=17.38s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.88km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=30.3% goal=149.15m dL=0.01 ttc=13.51s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.84km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=32.5% goal=144.61m dL=0.00 ttc=11.15s tl=Red credit=0 reason=
[STEP] step=0240 speed=  7.28km/h thr=0.00 brk=0.38 str=+0.00 safe=0 progress=34.1% goal=141.19m dL=0.01 ttc=8.67s tl=Red credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.13 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=6.78s tl=Red credit=18 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.13 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=7.22s tl=Red credit=38 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.13 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=8.70s tl=Red credit=58 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.13 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=11.72s tl=Red credit=78 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.13 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=14.93s tl=Red credit=98 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.17 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=19.12s tl=Red credit=118 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.02 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=6.59s tl=Red credit=138 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.01 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=5.41s tl=Red credit=158 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.04 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=5.32s tl=Red credit=178 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.07 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=5.51s tl=Red credit=198 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.10 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=5.55s tl=Red credit=218 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.12 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=4.55s tl=Red credit=238 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.05 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=3.55s tl=Red credit=258 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.13 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=2.55s tl=Red credit=278 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.10 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=11.21s tl=Red credit=298 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.07 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=3.76s tl=Red credit=318 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.06 safe=0 progress=34.1% goal=141.03m dL=0.02 ttc=3.51s tl=Red credit=338 reason=
[STEP] step=0600 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.10 safe=1 progress=34.1% goal=141.03m dL=0.02 ttc=51.29s tl=Green credit=318 reason=
[STEP] step=0620 speed= 14.88km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=35.1% goal=138.91m dL=0.00 ttc=12.68s tl=None credit=298 reason=
[STEP] step=0640 speed= 14.96km/h thr=0.12 brk=0.00 str=+0.01 safe=0 progress=37.2% goal=134.50m dL=0.03 ttc=16.60s tl=None credit=278 reason=
[STEP] step=0660 speed=  9.30km/h thr=0.00 brk=0.06 str=-0.18 safe=0 progress=38.7% goal=131.22m dL=0.26 ttc=28.51s tl=None credit=258 reason=
[STEP] step=0680 speed=  3.55km/h thr=0.12 brk=0.00 str=-0.12 safe=0 progress=39.6% goal=129.23m dL=0.57 ttc=5.10s tl=None credit=238 reason=
[STEP] step=0700 speed=  5.71km/h thr=0.12 brk=0.00 str=-0.39 safe=0 progress=40.3% goal=127.77m dL=0.40 ttc=5.54s tl=None credit=218 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.13 str=-0.45 safe=0 progress=40.8% goal=126.71m dL=0.31 ttc=13.27s tl=None credit=198 reason=
[STEP] step=0740 speed=  0.17km/h thr=0.30 brk=0.00 str=-0.34 safe=0 progress=40.8% goal=126.71m dL=0.31 ttc=77.64s tl=None credit=178 reason=
[STEP] step=0760 speed=  6.46km/h thr=0.00 brk=0.13 str=-0.65 safe=0 progress=41.3% goal=125.74m dL=0.36 ttc=20.24s tl=None credit=158 reason=
[STEP] step=0780 speed=  6.20km/h thr=0.17 brk=0.00 str=-0.22 safe=0 progress=42.1% goal=124.07m dL=0.10 ttc=22.88s tl=None credit=138 reason=
[STEP] step=0800 speed=  6.62km/h thr=0.12 brk=0.00 str=-0.27 safe=0 progress=42.8% goal=122.39m dL=0.01 ttc=12.39s tl=None credit=118 reason=
[STEP] step=0820 speed=  6.37km/h thr=0.12 brk=0.00 str=-0.43 safe=0 progress=43.6% goal=120.69m dL=0.01 ttc=12.71s tl=None credit=98 reason=
[STEP] step=0840 speed=  8.45km/h thr=0.37 brk=0.00 str=-0.35 safe=0 progress=44.5% goal=118.74m dL=0.20 ttc=8.00s tl=None credit=78 reason=
[STEP] step=0860 speed= 13.83km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=46.0% goal=115.61m dL=0.24 ttc=4.09s tl=None credit=58 reason=
[STEP] step=0880 speed= 16.63km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=48.1% goal=111.15m dL=0.06 ttc=2.52s tl=None credit=38 reason=
[STEP] step=0900 speed= 16.56km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=50.2% goal=106.56m dL=0.01 ttc=1.84s tl=None credit=18 reason=
[STEP] step=0920 speed= 16.54km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=52.4% goal=101.97m dL=0.03 ttc=5.15s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.52km/h thr=0.22 brk=0.00 str=+0.03 safe=0 progress=54.5% goal=97.39m dL=0.03 ttc=15.83s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.32km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=56.6% goal=92.83m dL=0.02 ttc=12.44s tl=Green credit=0 reason=
[STEP] step=0980 speed= 16.59km/h thr=0.22 brk=0.00 str=+0.02 safe=0 progress=58.8% goal=88.26m dL=0.05 ttc=11.29s tl=None credit=0 reason=
[STEP] step=1000 speed= 11.98km/h thr=0.00 brk=0.16 str=-0.20 safe=0 progress=60.7% goal=84.07m dL=0.18 ttc=12.25s tl=None credit=0 reason=
[STEP] step=1020 speed=  6.85km/h thr=0.04 brk=0.00 str=+0.44 safe=0 progress=61.9% goal=81.57m dL=0.58 ttc=9.59s tl=None credit=0 reason=
[STEP] step=1040 speed=  6.20km/h thr=0.15 brk=0.00 str=+0.53 safe=0 progress=62.7% goal=79.92m dL=0.33 ttc=6.91s tl=None credit=0 reason=
[STEP] step=1060 speed=  6.32km/h thr=0.12 brk=0.00 str=+0.46 safe=0 progress=63.5% goal=78.21m dL=0.06 ttc=5.65s tl=None credit=0 reason=
[STEP] step=1080 speed=  6.29km/h thr=0.13 brk=0.00 str=+0.35 safe=0 progress=64.3% goal=76.51m dL=0.01 ttc=9.56s tl=None credit=0 reason=
[STEP] step=1100 speed=  6.49km/h thr=0.15 brk=0.00 str=+0.57 safe=0 progress=65.1% goal=74.80m dL=0.18 ttc=4.66s tl=None credit=0 reason=
[STEP] step=1120 speed=  8.63km/h thr=0.42 brk=0.00 str=+0.45 safe=0 progress=66.0% goal=72.70m dL=0.40 ttc=15.25s tl=None credit=0 reason=
[STEP] step=1140 speed= 15.98km/h thr=0.42 brk=0.00 str=+0.08 safe=0 progress=67.6% goal=69.28m dL=0.25 ttc=11.36s tl=None credit=0 reason=
[STEP] step=1160 speed= 16.58km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=69.8% goal=64.62m dL=0.13 ttc=10.30s tl=None credit=0 reason=
[STEP] step=1180 speed= 16.85km/h thr=0.28 brk=0.00 str=+0.05 safe=0 progress=72.0% goal=59.97m dL=0.07 ttc=9.38s tl=None credit=0 reason=
[STEP] step=1200 speed= 18.03km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=74.3% goal=55.11m dL=0.06 ttc=8.36s tl=None credit=0 reason=
[STEP] step=1220 speed= 17.59km/h thr=0.00 brk=0.08 str=-0.03 safe=0 progress=76.6% goal=50.11m dL=0.05 ttc=7.33s tl=Red credit=0 reason=
[STEP] step=1240 speed= 14.79km/h thr=0.30 brk=0.00 str=+0.16 safe=0 progress=78.5% goal=45.93m dL=0.11 ttc=7.22s tl=None credit=0 reason=
[STEP] step=1260 speed= 11.50km/h thr=0.00 brk=0.06 str=-0.19 safe=0 progress=80.4% goal=42.03m dL=0.32 ttc=5.79s tl=None credit=0 reason=
[STEP] step=1280 speed=  9.30km/h thr=0.20 brk=0.00 str=-0.21 safe=0 progress=81.6% goal=39.36m dL=0.26 ttc=4.79s tl=None credit=0 reason=
[STEP] step=1300 speed=  7.90km/h thr=0.13 brk=0.00 str=-0.30 safe=0 progress=82.8% goal=36.90m dL=0.18 ttc=3.97s tl=None credit=0 reason=
[STEP] step=1320 speed=  7.97km/h thr=0.13 brk=0.00 str=-0.22 safe=0 progress=83.8% goal=34.69m dL=0.10 ttc=3.28s tl=None credit=0 reason=
[STEP] step=1340 speed=  7.75km/h thr=0.15 brk=0.00 str=-0.21 safe=0 progress=84.8% goal=32.52m dL=0.08 ttc=2.51s tl=None credit=0 reason=
[STEP] step=1360 speed=  7.84km/h thr=0.14 brk=0.00 str=-0.15 safe=0 progress=85.8% goal=30.36m dL=0.05 ttc=1.72s tl=None credit=0 reason=
[STEP] step=1380 speed=  6.78km/h thr=0.00 brk=0.07 str=-0.04 safe=0 progress=86.8% goal=28.24m dL=0.04 ttc=1.02s tl=None credit=0 reason=
[STEP] step=1400 speed=  7.93km/h thr=0.14 brk=0.00 str=-0.14 safe=0 progress=87.7% goal=26.26m dL=0.01 ttc=5.15s tl=None credit=0 reason=
[STEP] step=1420 speed=  8.99km/h thr=0.42 brk=0.00 str=-0.28 safe=0 progress=88.8% goal=24.05m dL=0.11 ttc=3.95s tl=None credit=0 reason=
[STEP] step=1440 speed= 10.53km/h thr=0.17 brk=0.00 str=-0.16 safe=0 progress=90.1% goal=21.11m dL=0.00 ttc=2.81s tl=None credit=0 reason=
[STEP] step=1460 speed=  9.39km/h thr=0.00 brk=0.25 str=-0.16 safe=0 progress=91.5% goal=18.24m dL=0.21 ttc=2.02s tl=None credit=0 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.19 safe=0 progress=91.9% goal=17.45m dL=0.17 ttc=2.04s tl=None credit=0 reason=
[STEP] step=1500 speed=  9.95km/h thr=0.48 brk=0.00 str=-0.05 safe=1 progress=92.2% goal=16.61m dL=0.11 ttc=2.41s tl=None credit=0 reason=
[STEP] step=1520 speed= 15.91km/h thr=0.31 brk=0.00 str=+0.02 safe=0 progress=94.0% goal=12.80m dL=0.07 ttc=3.52s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=01 R=-29.21 steps=1520 success=1 progress=94.0% DS=94.02 intv=0.082 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 145 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=47.37s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=8.40s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.26km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=23.6% goal=163.67m dL=0.06 ttc=6.56s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.58km/h thr=0.23 brk=0.00 str=+0.00 safe=0 progress=25.7% goal=159.00m dL=0.07 ttc=6.13s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.23km/h thr=0.28 brk=0.00 str=+0.03 safe=0 progress=27.9% goal=154.44m dL=0.09 ttc=3.89s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.24km/h thr=0.21 brk=0.00 str=-0.11 safe=0 progress=30.0% goal=149.93m dL=0.10 ttc=1.57s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.15km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=32.1% goal=145.45m dL=0.14 ttc=0.70s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.05km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=34.1% goal=141.12m dL=0.12 ttc=4.35s tl=Yellow credit=0 reason=
[STEP] step=0180 speed= 14.88km/h thr=0.17 brk=0.00 str=+0.02 safe=0 progress=36.1% goal=136.86m dL=0.10 ttc=3.83s tl=None credit=0 reason=
[STEP] step=0200 speed= 12.28km/h thr=0.00 brk=0.21 str=+0.16 safe=0 progress=37.9% goal=132.93m dL=0.06 ttc=3.47s tl=None credit=0 reason=
[STEP] step=0220 speed=  7.64km/h thr=0.11 brk=0.00 str=+0.49 safe=0 progress=39.2% goal=130.28m dL=0.32 ttc=4.07s tl=None credit=0 reason=
[STEP] step=0240 speed=  1.98km/h thr=0.48 brk=0.00 str=-0.19 safe=0 progress=39.7% goal=129.17m dL=0.58 ttc=2.72s tl=None credit=0 reason=
[STEP] step=0260 speed=  5.85km/h thr=0.06 brk=0.00 str=-0.41 safe=0 progress=40.3% goal=127.80m dL=0.41 ttc=5.71s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.16 str=+0.10 safe=0 progress=40.9% goal=126.59m dL=0.28 ttc=4.34s tl=None credit=0 reason=
[STEP] step=0300 speed=  4.50km/h thr=0.42 brk=0.00 str=-0.27 safe=0 progress=41.0% goal=126.40m dL=0.34 ttc=2.65s tl=None credit=0 reason=
[STEP] step=0320 speed=  6.09km/h thr=0.10 brk=0.00 str=-0.27 safe=0 progress=41.7% goal=124.78m dL=0.17 ttc=1.27s tl=None credit=0 reason=
[STEP] step=0340 speed=  6.11km/h thr=0.10 brk=0.00 str=-0.47 safe=0 progress=42.5% goal=123.12m dL=0.04 ttc=2.92s tl=None credit=0 reason=
[STEP] step=0343 speed=  3.30km/h thr=0.12 brk=0.00 str=-0.45 safe=0 progress=42.6% goal=122.88m dL=0.04 ttc=5.19s tl=None credit=0 reason=collision
[Town02_zeroshot_source_agent] ep=02 R=-51.61 steps=343 success=0 progress=42.6% DS=0.00 intv=0.073 reason=collision
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 160 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=17.67s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=2.70s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.55km/h thr=0.16 brk=0.00 str=+0.12 safe=0 progress=23.5% goal=163.75m dL=0.13 ttc=1.27s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.50km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=25.6% goal=159.21m dL=0.22 ttc=1.27s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.26km/h thr=0.23 brk=0.00 str=+0.02 safe=0 progress=27.8% goal=154.51m dL=0.26 ttc=6.42s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.94km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=30.1% goal=149.61m dL=0.21 ttc=5.35s tl=None credit=0 reason=
[STEP] step=0140 speed= 17.90km/h thr=0.10 brk=0.00 str=+0.02 safe=0 progress=32.5% goal=144.59m dL=0.13 ttc=4.36s tl=Red credit=0 reason=
[STEP] step=0160 speed=  7.22km/h thr=0.00 brk=0.30 str=+0.02 safe=0 progress=34.1% goal=141.11m dL=0.00 ttc=5.02s tl=Red credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.62 str=-0.03 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=5.22s tl=Red credit=17 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.05 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=4.21s tl=Red credit=37 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.14 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=3.21s tl=Red credit=57 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.07 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=2.27s tl=Red credit=77 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.01 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=6.81s tl=Red credit=97 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.07 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=3.82s tl=Red credit=117 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.07 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=12.02s tl=Red credit=137 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.08 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=5.65s tl=Red credit=157 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.11 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=4.59s tl=Red credit=177 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.07 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=3.60s tl=Red credit=197 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.03 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=3.78s tl=Red credit=217 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.03 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=7.31s tl=Red credit=237 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.03 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=6.33s tl=Red credit=257 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.02 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=33.56s tl=Red credit=277 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.04 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=201.95s tl=Red credit=297 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.04 safe=0 progress=34.2% goal=140.82m dL=0.01 ttc=103.39s tl=Green credit=303 reason=
[STEP] step=0500 speed=  4.96km/h thr=0.75 brk=0.00 str=-0.08 safe=1 progress=34.3% goal=140.60m dL=0.00 ttc=27.80s tl=Green credit=283 reason=
[STEP] step=0520 speed= 16.06km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=35.9% goal=137.21m dL=0.01 ttc=7.84s tl=None credit=263 reason=
[STEP] step=0540 speed= 12.21km/h thr=0.11 brk=0.00 str=+0.06 safe=0 progress=37.8% goal=133.15m dL=0.11 ttc=9.31s tl=None credit=243 reason=
[STEP] step=0560 speed=  8.33km/h thr=0.11 brk=0.00 str=+0.41 safe=0 progress=39.1% goal=130.38m dL=0.32 ttc=8.11s tl=None credit=223 reason=
[STEP] step=0580 speed=  5.87km/h thr=0.28 brk=0.00 str=-0.46 safe=0 progress=39.9% goal=128.62m dL=0.56 ttc=15.17s tl=None credit=203 reason=
[STEP] step=0600 speed=  6.00km/h thr=0.19 brk=0.00 str=+0.00 safe=0 progress=40.7% goal=126.94m dL=0.34 ttc=8.15s tl=None credit=183 reason=
[STEP] step=0620 speed=  6.09km/h thr=0.12 brk=0.00 str=-0.58 safe=0 progress=41.4% goal=125.41m dL=0.30 ttc=15.92s tl=None credit=163 reason=
[STEP] step=0640 speed=  6.13km/h thr=0.12 brk=0.00 str=-0.46 safe=0 progress=42.2% goal=123.76m dL=0.05 ttc=12.78s tl=None credit=143 reason=
[STEP] step=0660 speed=  6.45km/h thr=0.04 brk=0.00 str=-0.05 safe=0 progress=43.0% goal=122.08m dL=0.01 ttc=5.80s tl=None credit=123 reason=
[STEP] step=0680 speed=  6.22km/h thr=0.11 brk=0.00 str=-0.41 safe=0 progress=43.8% goal=120.39m dL=0.01 ttc=9.13s tl=None credit=103 reason=
[STEP] step=0700 speed=  9.16km/h thr=0.42 brk=0.00 str=-0.34 safe=0 progress=44.7% goal=118.31m dL=0.24 ttc=3.98s tl=None credit=83 reason=
[STEP] step=0720 speed= 15.19km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=46.3% goal=114.93m dL=0.21 ttc=9.87s tl=None credit=63 reason=
[STEP] step=0740 speed= 17.51km/h thr=0.33 brk=0.00 str=-0.04 safe=0 progress=48.5% goal=110.24m dL=0.07 ttc=21.40s tl=None credit=43 reason=
[STEP] step=0760 speed= 18.34km/h thr=0.33 brk=0.00 str=+0.07 safe=0 progress=50.8% goal=105.27m dL=0.09 ttc=19.46s tl=None credit=23 reason=
[STEP] step=0780 speed= 18.32km/h thr=0.38 brk=0.00 str=+0.00 safe=0 progress=53.2% goal=100.20m dL=0.12 ttc=18.80s tl=None credit=3 reason=
[STEP] step=0800 speed= 21.19km/h thr=0.22 brk=0.00 str=+0.01 safe=0 progress=55.8% goal=94.71m dL=0.11 ttc=9.61s tl=Green credit=0 reason=
[STEP] step=0820 speed= 20.44km/h thr=0.40 brk=0.00 str=-0.02 safe=0 progress=58.4% goal=89.04m dL=0.07 ttc=9.89s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.88km/h thr=0.12 brk=0.00 str=+0.11 safe=0 progress=60.4% goal=84.75m dL=0.20 ttc=13.39s tl=None credit=0 reason=
[STEP] step=0860 speed=  7.88km/h thr=0.12 brk=0.00 str=-0.24 safe=0 progress=61.0% goal=83.52m dL=0.19 ttc=6.37s tl=None credit=0 reason=
[STEP] step=0880 speed=  6.16km/h thr=0.15 brk=0.00 str=+0.28 safe=0 progress=61.9% goal=81.61m dL=0.43 ttc=3.83s tl=None credit=0 reason=
[STEP] step=0900 speed=  6.31km/h thr=0.12 brk=0.00 str=+0.41 safe=0 progress=62.7% goal=79.91m dL=0.26 ttc=3.54s tl=None credit=0 reason=
[STEP] step=0920 speed=  6.38km/h thr=0.09 brk=0.00 str=+0.45 safe=0 progress=63.5% goal=78.18m dL=0.05 ttc=3.29s tl=None credit=0 reason=
[STEP] step=0940 speed=  6.51km/h thr=0.05 brk=0.00 str=+0.36 safe=0 progress=64.3% goal=76.40m dL=0.03 ttc=3.62s tl=None credit=0 reason=
[STEP] step=0960 speed=  6.46km/h thr=0.08 brk=0.00 str=+0.53 safe=0 progress=65.1% goal=74.62m dL=0.24 ttc=8.64s tl=None credit=0 reason=
[STEP] step=0980 speed=  9.36km/h thr=0.36 brk=0.00 str=+0.39 safe=0 progress=66.2% goal=72.37m dL=0.38 ttc=4.97s tl=None credit=0 reason=
[STEP] step=1000 speed= 15.75km/h thr=0.42 brk=0.00 str=+0.07 safe=0 progress=67.8% goal=68.88m dL=0.22 ttc=2.91s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.04km/h thr=0.25 brk=0.00 str=+0.03 safe=0 progress=70.0% goal=64.33m dL=0.12 ttc=2.07s tl=None credit=0 reason=
[STEP] step=1040 speed= 16.24km/h thr=0.17 brk=0.00 str=-0.01 safe=0 progress=72.1% goal=59.83m dL=0.11 ttc=2.22s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.22km/h thr=0.22 brk=0.00 str=+0.01 safe=0 progress=74.2% goal=55.34m dL=0.11 ttc=2.23s tl=None credit=0 reason=
[STEP] step=1080 speed= 15.90km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=76.3% goal=50.83m dL=0.10 ttc=1.85s tl=Red credit=0 reason=
[STEP] step=1100 speed=  6.83km/h thr=0.00 brk=0.24 str=+0.14 safe=0 progress=77.7% goal=47.78m dL=0.07 ttc=10.07s tl=Red credit=0 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.00 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=5.29s tl=Red credit=19 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.00 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=22.86s tl=Red credit=39 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.03 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=14.29s tl=Red credit=59 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.10 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=14.08s tl=Red credit=79 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.06 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=13.02s tl=Red credit=99 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.01 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=10.88s tl=Red credit=119 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.01 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=10.25s tl=Red credit=139 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.10 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=9.50s tl=Red credit=159 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.08 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=8.84s tl=Red credit=179 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.01 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=8.31s tl=Red credit=199 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.00 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=8.18s tl=Red credit=219 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.00 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=9.59s tl=Red credit=239 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.01 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=999.00s tl=Red credit=259 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.04 safe=0 progress=77.7% goal=47.67m dL=0.08 ttc=999.00s tl=Green credit=277 reason=
[STEP] step=1400 speed=  0.27km/h thr=0.75 brk=0.00 str=-0.13 safe=1 progress=77.7% goal=47.67m dL=0.08 ttc=48.19s tl=Green credit=257 reason=
[STEP] step=1420 speed= 12.87km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=78.7% goal=45.55m dL=0.07 ttc=10.81s tl=None credit=237 reason=
[STEP] step=1440 speed= 11.25km/h thr=0.05 brk=0.00 str=-0.20 safe=0 progress=80.4% goal=41.87m dL=0.28 ttc=10.91s tl=None credit=217 reason=
[STEP] step=1460 speed= 10.27km/h thr=0.23 brk=0.00 str=-0.13 safe=0 progress=81.8% goal=39.01m dL=0.26 ttc=10.93s tl=None credit=197 reason=
[STEP] step=1480 speed=  8.84km/h thr=0.04 brk=0.00 str=-0.46 safe=0 progress=83.0% goal=36.41m dL=0.22 ttc=12.99s tl=None credit=177 reason=
[STEP] step=1500 speed=  8.07km/h thr=0.16 brk=0.00 str=-0.26 safe=0 progress=84.1% goal=34.13m dL=0.09 ttc=7.37s tl=None credit=157 reason=
[STEP] step=1520 speed=  8.16km/h thr=0.14 brk=0.00 str=-0.25 safe=0 progress=85.1% goal=31.87m dL=0.05 ttc=5.53s tl=None credit=137 reason=
[STEP] step=1540 speed=  8.03km/h thr=0.16 brk=0.00 str=-0.26 safe=0 progress=86.2% goal=29.64m dL=0.04 ttc=5.66s tl=None credit=117 reason=
[STEP] step=1560 speed=  7.94km/h thr=0.17 brk=0.00 str=-0.28 safe=0 progress=87.2% goal=27.46m dL=0.06 ttc=13.00s tl=None credit=97 reason=
[STEP] step=1580 speed=  8.22km/h thr=0.17 brk=0.00 str=-0.27 safe=0 progress=88.2% goal=25.22m dL=0.01 ttc=10.45s tl=None credit=77 reason=
[STEP] step=1600 speed= 11.59km/h thr=0.25 brk=0.00 str=-0.10 safe=0 progress=89.5% goal=22.53m dL=0.09 ttc=7.52s tl=None credit=57 reason=
[STEP] step=1620 speed= 12.07km/h thr=0.14 brk=0.00 str=-0.11 safe=0 progress=91.0% goal=19.26m dL=0.11 ttc=6.57s tl=None credit=37 reason=
[STEP] step=1640 speed= 15.87km/h thr=0.39 brk=0.00 str=+0.02 safe=0 progress=92.7% goal=15.59m dL=0.12 ttc=7.06s tl=None credit=17 reason=
[STEP] step=1651 speed= 17.97km/h thr=0.45 brk=0.00 str=-0.01 safe=0 progress=94.0% goal=12.95m dL=0.14 ttc=7.63s tl=None credit=6 reason=goal
[Town02_zeroshot_source_agent] ep=03 R=21.91 steps=1651 success=1 progress=94.0% DS=93.95 intv=0.045 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 175 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=36.44s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.25km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=7.37s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.29km/h thr=0.19 brk=0.00 str=-0.03 safe=0 progress=23.5% goal=163.78m dL=0.04 ttc=6.80s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.79km/h thr=0.33 brk=0.00 str=+0.05 safe=0 progress=25.6% goal=159.33m dL=0.05 ttc=5.40s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.21km/h thr=0.23 brk=0.00 str=+0.01 safe=0 progress=27.7% goal=154.79m dL=0.01 ttc=2.47s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.27km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=29.8% goal=150.32m dL=0.02 ttc=1.15s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.11km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=31.9% goal=145.82m dL=0.04 ttc=1.10s tl=None credit=0 reason=
[STEP] step=0160 speed=  9.28km/h thr=0.00 brk=0.56 str=+0.01 safe=0 progress=33.7% goal=141.91m dL=0.01 ttc=3.69s tl=Red credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.00 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=7.26s tl=Red credit=11 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.02 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=8.62s tl=Red credit=31 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.03 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=6.76s tl=Red credit=51 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.05 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=5.39s tl=Red credit=71 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.03 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=7.86s tl=Red credit=91 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.04 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=16.71s tl=Red credit=111 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.02 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=22.51s tl=Red credit=131 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.03 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=22.34s tl=Red credit=151 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.05 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=11.22s tl=Red credit=171 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.03 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=6.65s tl=Red credit=191 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.09 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=5.83s tl=Red credit=211 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.07 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=4.73s tl=Red credit=231 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.05 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=3.76s tl=Red credit=251 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.00 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=2.75s tl=Red credit=271 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.04 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=3.45s tl=Red credit=291 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.02 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=3.77s tl=Red credit=311 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.04 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=2.73s tl=Red credit=331 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.04 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=18.57s tl=Red credit=351 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.04 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=999.00s tl=Red credit=371 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.07 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=999.00s tl=Red credit=391 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.00 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=999.00s tl=Red credit=411 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.05 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=85.12s tl=Red credit=431 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.02 safe=0 progress=34.2% goal=140.98m dL=0.00 ttc=105.00s tl=Green credit=421 reason=
[STEP] step=0640 speed= 12.07km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=34.7% goal=139.81m dL=0.01 ttc=11.27s tl=Green credit=401 reason=
[STEP] step=0660 speed= 15.30km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=36.7% goal=135.62m dL=0.01 ttc=7.93s tl=None credit=381 reason=
[STEP] step=0680 speed=  9.41km/h thr=0.00 brk=0.05 str=+0.04 safe=0 progress=38.3% goal=132.17m dL=0.18 ttc=11.96s tl=None credit=361 reason=
[STEP] step=0700 speed=  6.90km/h thr=0.11 brk=0.00 str=+0.38 safe=0 progress=39.3% goal=129.98m dL=0.38 ttc=6.14s tl=None credit=341 reason=
[STEP] step=0720 speed=  5.71km/h thr=0.31 brk=0.00 str=-0.33 safe=0 progress=39.7% goal=129.07m dL=0.56 ttc=14.64s tl=None credit=321 reason=
[STEP] step=0740 speed=  6.57km/h thr=0.12 brk=0.00 str=-0.18 safe=0 progress=40.5% goal=127.44m dL=0.31 ttc=12.52s tl=None credit=301 reason=
[STEP] step=0760 speed=  6.00km/h thr=0.00 brk=0.20 str=-0.43 safe=0 progress=41.2% goal=125.89m dL=0.33 ttc=11.92s tl=None credit=281 reason=
[STEP] step=0780 speed=  5.42km/h thr=0.12 brk=0.00 str=-0.08 safe=0 progress=42.0% goal=124.28m dL=0.12 ttc=4.36s tl=None credit=261 reason=
[STEP] step=0800 speed=  6.05km/h thr=0.23 brk=0.00 str=-0.44 safe=0 progress=42.7% goal=122.62m dL=0.02 ttc=11.10s tl=None credit=241 reason=
[STEP] step=0820 speed=  6.27km/h thr=0.05 brk=0.00 str=-0.45 safe=0 progress=43.5% goal=120.90m dL=0.03 ttc=1.72s tl=None credit=221 reason=
[STEP] step=0840 speed=  6.77km/h thr=0.11 brk=0.00 str=-0.39 safe=0 progress=44.4% goal=119.11m dL=0.11 ttc=9.74s tl=None credit=201 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.15 safe=0 progress=45.2% goal=117.30m dL=0.20 ttc=25.80s tl=None credit=181 reason=
[STEP] step=0880 speed=  0.21km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=45.2% goal=117.30m dL=0.20 ttc=32.66s tl=None credit=161 reason=
[STEP] step=0900 speed= 10.67km/h thr=0.42 brk=0.00 str=-0.15 safe=1 progress=46.0% goal=115.52m dL=0.25 ttc=4.95s tl=None credit=141 reason=
[STEP] step=0920 speed=  9.17km/h thr=0.00 brk=0.13 str=-0.02 safe=0 progress=47.5% goal=112.44m dL=0.11 ttc=4.55s tl=None credit=121 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.04 safe=0 progress=48.0% goal=111.40m dL=0.07 ttc=3.95s tl=None credit=121 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.03 safe=0 progress=48.0% goal=111.40m dL=0.07 ttc=3.86s tl=None credit=133 reason=
[STEP] step=0980 speed=  3.25km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=48.0% goal=111.29m dL=0.07 ttc=4.61s tl=None credit=113 reason=
[STEP] step=1000 speed= 17.56km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=49.5% goal=108.05m dL=0.04 ttc=11.74s tl=None credit=93 reason=
[STEP] step=1020 speed= 15.42km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=51.7% goal=103.46m dL=0.02 ttc=12.48s tl=None credit=73 reason=
[STEP] step=1040 speed= 15.21km/h thr=0.22 brk=0.00 str=-0.06 safe=0 progress=53.7% goal=99.22m dL=0.01 ttc=10.74s tl=None credit=53 reason=
[STEP] step=1060 speed= 17.21km/h thr=0.25 brk=0.00 str=-0.00 safe=0 progress=55.8% goal=94.63m dL=0.04 ttc=8.25s tl=Green credit=33 reason=
[STEP] step=1080 speed= 18.02km/h thr=0.30 brk=0.00 str=-0.07 safe=0 progress=58.0% goal=89.83m dL=0.06 ttc=4.44s tl=None credit=13 reason=
[STEP] step=1100 speed= 15.99km/h thr=0.00 brk=0.35 str=-0.18 safe=0 progress=60.4% goal=84.89m dL=0.22 ttc=4.13s tl=None credit=0 reason=
[STEP] step=1120 speed=  8.46km/h thr=0.05 brk=0.00 str=+0.42 safe=0 progress=61.8% goal=81.70m dL=0.71 ttc=3.71s tl=None credit=0 reason=
[STEP] step=1140 speed=  6.46km/h thr=0.21 brk=0.00 str=+0.54 safe=0 progress=62.7% goal=79.84m dL=0.45 ttc=5.22s tl=None credit=0 reason=
[STEP] step=1160 speed=  6.78km/h thr=0.04 brk=0.00 str=+0.41 safe=0 progress=63.5% goal=78.15m dL=0.15 ttc=9.44s tl=None credit=0 reason=
[STEP] step=1180 speed=  6.47km/h thr=0.14 brk=0.00 str=+0.29 safe=0 progress=64.3% goal=76.45m dL=0.01 ttc=12.45s tl=None credit=0 reason=
[STEP] step=1200 speed=  6.50km/h thr=0.06 brk=0.00 str=+0.53 safe=0 progress=65.1% goal=74.69m dL=0.19 ttc=10.13s tl=None credit=0 reason=
[STEP] step=1220 speed=  6.97km/h thr=0.10 brk=0.00 str=+0.38 safe=0 progress=66.1% goal=72.69m dL=0.38 ttc=8.56s tl=None credit=0 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.28 str=+0.11 safe=0 progress=66.6% goal=71.43m dL=0.30 ttc=3.14s tl=None credit=0 reason=
[STEP] step=1260 speed=  4.56km/h thr=0.50 brk=0.00 str=+0.18 safe=1 progress=66.7% goal=71.22m dL=0.29 ttc=1.41s tl=None credit=0 reason=
[STEP] step=1280 speed= 12.50km/h thr=0.23 brk=0.00 str=+0.05 safe=0 progress=67.9% goal=68.66m dL=0.19 ttc=4.20s tl=None credit=0 reason=
[STEP] step=1300 speed=  9.70km/h thr=0.00 brk=0.22 str=+0.01 safe=0 progress=69.5% goal=65.32m dL=0.11 ttc=2.24s tl=None credit=0 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.05 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=2.25s tl=None credit=10 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.05 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=1.69s tl=None credit=30 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.05 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=1.44s tl=None credit=50 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.07 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=4.07s tl=None credit=70 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.04 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=3.00s tl=None credit=90 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.02 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=2.01s tl=None credit=110 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.07 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=999.00s tl=None credit=130 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.06 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=999.00s tl=None credit=150 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.07 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=999.00s tl=None credit=170 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.06 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=999.00s tl=None credit=190 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.08 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=452.03s tl=None credit=210 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.07 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=113.18s tl=None credit=230 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.08 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=47.39s tl=None credit=250 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=70.0% goal=64.20m dL=0.09 ttc=36.10s tl=None credit=238 reason=
[STEP] step=1600 speed= 13.98km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=70.7% goal=62.67m dL=0.06 ttc=2.33s tl=None credit=218 reason=
[STEP] step=1620 speed= 17.01km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=72.9% goal=57.94m dL=0.05 ttc=2.13s tl=None credit=198 reason=
[STEP] step=1640 speed= 16.30km/h thr=0.20 brk=0.00 str=+0.01 safe=0 progress=75.1% goal=53.30m dL=0.06 ttc=9.77s tl=None credit=178 reason=
[STEP] step=1660 speed= 16.41km/h thr=0.39 brk=0.00 str=-0.04 safe=0 progress=77.2% goal=48.77m dL=0.04 ttc=8.69s tl=Green credit=158 reason=
[STEP] step=1680 speed= 16.37km/h thr=0.00 brk=0.08 str=+0.11 safe=0 progress=79.4% goal=44.16m dL=0.21 ttc=7.89s tl=None credit=138 reason=
[STEP] step=1700 speed=  9.62km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=81.0% goal=40.75m dL=0.20 ttc=11.86s tl=None credit=118 reason=
[STEP] step=1720 speed=  9.25km/h thr=0.00 brk=0.07 str=-0.09 safe=0 progress=82.2% goal=38.14m dL=0.18 ttc=11.29s tl=None credit=98 reason=
[STEP] step=1740 speed=  8.58km/h thr=0.25 brk=0.00 str=-0.13 safe=0 progress=83.2% goal=35.88m dL=0.05 ttc=11.86s tl=None credit=78 reason=
[STEP] step=1760 speed=  8.07km/h thr=0.13 brk=0.00 str=-0.21 safe=0 progress=84.3% goal=33.64m dL=0.01 ttc=12.92s tl=None credit=58 reason=
[STEP] step=1780 speed=  8.16km/h thr=0.16 brk=0.00 str=-0.31 safe=0 progress=85.3% goal=31.44m dL=0.00 ttc=14.08s tl=None credit=38 reason=
[STEP] step=1800 speed=  8.13km/h thr=0.12 brk=0.00 str=-0.33 safe=0 progress=86.4% goal=29.21m dL=0.02 ttc=14.51s tl=None credit=18 reason=
[STEP] step=1820 speed=  7.62km/h thr=0.17 brk=0.00 str=-0.32 safe=0 progress=87.3% goal=27.13m dL=0.01 ttc=17.74s tl=None credit=0 reason=
[STEP] step=1840 speed=  8.27km/h thr=0.19 brk=0.00 str=-0.29 safe=0 progress=88.4% goal=24.90m dL=0.06 ttc=15.02s tl=None credit=0 reason=
[STEP] step=1860 speed= 11.32km/h thr=0.15 brk=0.00 str=-0.12 safe=0 progress=89.7% goal=22.09m dL=0.09 ttc=14.76s tl=None credit=0 reason=
[STEP] step=1880 speed= 11.30km/h thr=0.16 brk=0.00 str=-0.09 safe=0 progress=91.1% goal=18.95m dL=0.09 ttc=23.93s tl=None credit=0 reason=
[STEP] step=1900 speed= 14.01km/h thr=0.31 brk=0.00 str=-0.04 safe=0 progress=92.7% goal=15.57m dL=0.05 ttc=20.31s tl=None credit=0 reason=
[STEP] step=1913 speed= 16.45km/h thr=0.25 brk=0.00 str=+0.03 safe=0 progress=94.0% goal=12.80m dL=0.03 ttc=18.59s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=04 R=24.06 steps=1913 success=1 progress=94.0% DS=94.02 intv=0.078 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 191 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=46.68s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=16.78s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.51km/h thr=0.00 brk=0.19 str=+0.00 safe=0 progress=23.4% goal=164.10m dL=0.01 ttc=6.93s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.11 safe=0 progress=24.3% goal=162.15m dL=0.00 ttc=9.85s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.03km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=24.3% goal=162.05m dL=0.00 ttc=9.11s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.69km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=25.8% goal=158.80m dL=0.01 ttc=4.98s tl=None credit=0 reason=
[STEP] step=0140 speed= 14.73km/h thr=0.42 brk=0.00 str=-0.00 safe=0 progress=27.9% goal=154.36m dL=0.03 ttc=3.64s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.83km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=30.0% goal=149.91m dL=0.02 ttc=1.88s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.49km/h thr=0.21 brk=0.00 str=-0.03 safe=0 progress=32.1% goal=145.47m dL=0.01 ttc=0.91s tl=None credit=0 reason=
[STEP] step=0200 speed=  9.25km/h thr=0.00 brk=0.32 str=+0.01 safe=0 progress=33.9% goal=141.59m dL=0.00 ttc=17.74s tl=Red credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.02 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=22.79s tl=Red credit=11 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.06 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=19.40s tl=Red credit=31 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.00 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=17.44s tl=Red credit=51 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.00 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=16.80s tl=Red credit=71 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.07 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=16.56s tl=Red credit=91 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.07 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=15.83s tl=Red credit=111 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=15.21s tl=Red credit=131 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=14.68s tl=Red credit=151 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=16.78s tl=Red credit=171 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=19.26s tl=Red credit=191 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=42.53s tl=Red credit=211 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=999.00s tl=Red credit=231 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=999.00s tl=Red credit=251 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.20 safe=0 progress=34.3% goal=140.65m dL=0.01 ttc=414.28s tl=Green credit=261 reason=
[STEP] step=0500 speed=  3.25km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=34.4% goal=140.55m dL=0.01 ttc=28.74s tl=Green credit=241 reason=
[STEP] step=0520 speed= 15.37km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=35.8% goal=137.54m dL=0.01 ttc=10.93s tl=None credit=221 reason=
[STEP] step=0540 speed= 11.49km/h thr=0.00 brk=0.22 str=+0.20 safe=0 progress=37.6% goal=133.56m dL=0.08 ttc=13.90s tl=None credit=201 reason=
[STEP] step=0560 speed=  6.75km/h thr=0.30 brk=0.00 str=-0.15 safe=0 progress=38.7% goal=131.19m dL=0.29 ttc=8.62s tl=None credit=181 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.08 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=5.72s tl=None credit=161 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.47 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=4.82s tl=None credit=141 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.45 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=4.33s tl=None credit=121 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.42 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=4.15s tl=None credit=101 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.47 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=8.03s tl=None credit=81 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.47 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=9.75s tl=None credit=61 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.46 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=12.08s tl=None credit=41 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.45 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=17.19s tl=None credit=21 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.47 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=22.89s tl=None credit=1 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.48 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=30.44s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.45 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=38.26s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.46 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=38.58s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.46 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=16.89s tl=None credit=0 reason=
[STEP] step=0822 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.45 safe=0 progress=39.3% goal=130.05m dL=0.39 ttc=15.57s tl=None credit=0 reason=stuck
[Town02_zeroshot_source_agent] ep=05 R=196.60 steps=822 success=0 progress=39.3% DS=0.00 intv=0.091 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 203 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=26.55s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=8.70s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.38km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=23.4% goal=164.12m dL=0.01 ttc=8.38s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.10 safe=0 progress=24.3% goal=162.12m dL=0.01 ttc=11.71s tl=None credit=0 reason=
[STEP] step=0100 speed=  2.31km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=24.3% goal=162.06m dL=0.01 ttc=9.34s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.48km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=25.7% goal=159.00m dL=0.00 ttc=5.24s tl=None credit=0 reason=
[STEP] step=0140 speed= 15.84km/h thr=0.42 brk=0.00 str=-0.04 safe=0 progress=27.9% goal=154.34m dL=0.04 ttc=4.82s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.23km/h thr=0.19 brk=0.00 str=+0.01 safe=0 progress=30.1% goal=149.77m dL=0.02 ttc=3.84s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.62km/h thr=0.26 brk=0.00 str=-0.03 safe=0 progress=32.2% goal=145.27m dL=0.06 ttc=4.65s tl=None credit=0 reason=
[STEP] step=0200 speed=  9.32km/h thr=0.00 brk=0.24 str=+0.07 safe=0 progress=34.0% goal=141.36m dL=0.09 ttc=13.28s tl=Red credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.12 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=16.17s tl=Red credit=10 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.11 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=12.94s tl=Red credit=30 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.03 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=10.58s tl=Red credit=50 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.03 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=8.76s tl=Red credit=70 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.11 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=7.34s tl=Red credit=90 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.14 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=6.95s tl=Red credit=110 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.06 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=8.15s tl=Red credit=130 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.05 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=10.57s tl=Red credit=150 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.05 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=9.57s tl=Red credit=170 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.06 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=8.58s tl=Red credit=190 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.06 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=7.58s tl=Red credit=210 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.02 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=6.59s tl=Red credit=230 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.03 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=7.48s tl=Red credit=250 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.08 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=5.25s tl=Red credit=270 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.13 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=4.26s tl=Red credit=290 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.02 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=3.26s tl=Red credit=310 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.11 safe=0 progress=34.5% goal=140.32m dL=0.02 ttc=2.29s tl=Green credit=314 reason=
[STEP] step=0560 speed=  5.82km/h thr=0.75 brk=0.00 str=-0.07 safe=1 progress=34.6% goal=140.03m dL=0.02 ttc=3.97s tl=Green credit=294 reason=
[STEP] step=0580 speed= 15.14km/h thr=0.12 brk=0.00 str=-0.00 safe=0 progress=36.2% goal=136.68m dL=0.02 ttc=8.31s tl=None credit=274 reason=
[STEP] step=0600 speed= 11.15km/h thr=0.00 brk=0.08 str=+0.12 safe=0 progress=37.9% goal=132.96m dL=0.10 ttc=4.23s tl=None credit=254 reason=
[STEP] step=0620 speed=  7.51km/h thr=0.10 brk=0.00 str=+0.25 safe=0 progress=39.1% goal=130.49m dL=0.27 ttc=14.58s tl=None credit=234 reason=
[STEP] step=0640 speed=  4.55km/h thr=0.42 brk=0.00 str=-0.34 safe=0 progress=39.7% goal=129.02m dL=0.57 ttc=5.08s tl=None credit=214 reason=
[STEP] step=0660 speed=  6.32km/h thr=0.24 brk=0.00 str=-0.18 safe=0 progress=40.5% goal=127.42m dL=0.32 ttc=6.14s tl=None credit=194 reason=
[STEP] step=0680 speed=  6.32km/h thr=0.12 brk=0.00 str=-0.59 safe=0 progress=41.2% goal=125.83m dL=0.34 ttc=11.69s tl=None credit=174 reason=
[STEP] step=0700 speed=  6.21km/h thr=0.17 brk=0.00 str=-0.15 safe=0 progress=42.0% goal=124.14m dL=0.10 ttc=4.96s tl=None credit=154 reason=
[STEP] step=0720 speed=  6.54km/h thr=0.15 brk=0.00 str=-0.36 safe=0 progress=42.8% goal=122.45m dL=0.00 ttc=12.61s tl=None credit=134 reason=
[STEP] step=0740 speed=  6.52km/h thr=0.10 brk=0.00 str=-0.45 safe=0 progress=43.6% goal=120.74m dL=0.02 ttc=6.60s tl=None credit=114 reason=
[STEP] step=0760 speed=  7.17km/h thr=0.16 brk=0.00 str=-0.35 safe=0 progress=44.5% goal=118.92m dL=0.15 ttc=11.59s tl=None credit=94 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.11 safe=0 progress=45.0% goal=117.70m dL=0.21 ttc=4.27s tl=None credit=74 reason=
[STEP] step=0800 speed=  4.75km/h thr=0.51 brk=0.00 str=-0.18 safe=1 progress=45.1% goal=117.49m dL=0.21 ttc=16.39s tl=None credit=54 reason=
[STEP] step=0820 speed= 12.26km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=46.3% goal=114.98m dL=0.21 ttc=5.60s tl=None credit=34 reason=
[STEP] step=0840 speed= 13.60km/h thr=0.25 brk=0.00 str=-0.05 safe=0 progress=48.0% goal=111.39m dL=0.08 ttc=4.85s tl=None credit=14 reason=
[STEP] step=0860 speed= 16.10km/h thr=0.42 brk=0.00 str=+0.03 safe=0 progress=49.9% goal=107.36m dL=0.03 ttc=10.50s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.63km/h thr=0.26 brk=0.00 str=-0.06 safe=0 progress=52.0% goal=102.73m dL=0.00 ttc=10.93s tl=None credit=0 reason=
[STEP] step=0900 speed= 16.52km/h thr=0.22 brk=0.00 str=-0.02 safe=0 progress=54.2% goal=98.12m dL=0.01 ttc=10.34s tl=None credit=0 reason=
[STEP] step=0920 speed= 16.25km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=56.3% goal=93.58m dL=0.00 ttc=5.53s tl=Green credit=0 reason=
[STEP] step=0940 speed= 15.82km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=58.4% goal=89.14m dL=0.01 ttc=4.65s tl=None credit=0 reason=
[STEP] step=0960 speed= 14.08km/h thr=0.00 brk=0.24 str=-0.18 safe=0 progress=60.4% goal=84.84m dL=0.02 ttc=4.22s tl=None credit=0 reason=
[STEP] step=0980 speed=  8.05km/h thr=0.03 brk=0.00 str=+0.17 safe=0 progress=61.7% goal=81.94m dL=0.57 ttc=4.00s tl=None credit=0 reason=
[STEP] step=1000 speed=  6.23km/h thr=0.15 brk=0.00 str=+0.45 safe=0 progress=62.6% goal=80.12m dL=0.41 ttc=6.87s tl=None credit=0 reason=
[STEP] step=1020 speed=  6.31km/h thr=0.17 brk=0.00 str=+0.59 safe=0 progress=63.3% goal=78.50m dL=0.11 ttc=5.26s tl=None credit=0 reason=
[STEP] step=1040 speed=  6.16km/h thr=0.15 brk=0.00 str=+0.60 safe=0 progress=64.1% goal=76.78m dL=0.01 ttc=7.97s tl=None credit=0 reason=
[STEP] step=1060 speed=  6.45km/h thr=0.16 brk=0.00 str=+0.57 safe=0 progress=64.9% goal=75.05m dL=0.13 ttc=5.83s tl=None credit=0 reason=
[STEP] step=1080 speed=  8.32km/h thr=0.33 brk=0.00 str=+0.43 safe=0 progress=65.9% goal=73.09m dL=0.36 ttc=7.28s tl=None credit=0 reason=
[STEP] step=1100 speed= 14.66km/h thr=0.42 brk=0.00 str=+0.12 safe=0 progress=67.4% goal=69.88m dL=0.26 ttc=3.49s tl=None credit=0 reason=
[STEP] step=1120 speed= 16.75km/h thr=0.23 brk=0.00 str=+0.02 safe=0 progress=69.5% goal=65.33m dL=0.15 ttc=2.22s tl=None credit=0 reason=
[STEP] step=1140 speed= 17.00km/h thr=0.23 brk=0.00 str=-0.00 safe=0 progress=71.7% goal=60.66m dL=0.10 ttc=1.70s tl=None credit=0 reason=
[STEP] step=1160 speed= 17.99km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=73.9% goal=55.81m dL=0.09 ttc=1.71s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.00km/h thr=0.15 brk=0.00 str=+0.01 safe=0 progress=76.3% goal=50.79m dL=0.08 ttc=0.80s tl=Red credit=0 reason=
[STEP] step=1200 speed= 18.08km/h thr=0.27 brk=0.00 str=+0.12 safe=0 progress=78.6% goal=45.84m dL=0.16 ttc=29.54s tl=None credit=0 reason=
[STEP] step=1220 speed= 12.85km/h thr=0.00 brk=0.19 str=+0.06 safe=0 progress=80.7% goal=41.30m dL=0.28 ttc=22.37s tl=None credit=0 reason=
[STEP] step=1240 speed= 10.94km/h thr=0.13 brk=0.00 str=-0.22 safe=0 progress=82.1% goal=38.26m dL=0.36 ttc=23.16s tl=None credit=0 reason=
[STEP] step=1260 speed=  8.26km/h thr=0.06 brk=0.00 str=-0.35 safe=0 progress=83.4% goal=35.53m dL=0.45 ttc=25.59s tl=None credit=0 reason=
[STEP] step=1280 speed=  9.28km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=84.4% goal=33.38m dL=0.16 ttc=38.73s tl=None credit=0 reason=
[STEP] step=1300 speed=  7.90km/h thr=0.17 brk=0.00 str=-0.11 safe=0 progress=85.5% goal=31.09m dL=0.06 ttc=42.58s tl=None credit=0 reason=
[STEP] step=1320 speed=  7.76km/h thr=0.15 brk=0.00 str=-0.31 safe=0 progress=86.5% goal=28.92m dL=0.00 ttc=21.25s tl=None credit=0 reason=
[STEP] step=1340 speed=  7.71km/h thr=0.15 brk=0.00 str=-0.34 safe=0 progress=87.5% goal=26.78m dL=0.02 ttc=18.57s tl=None credit=0 reason=
[STEP] step=1360 speed=  7.85km/h thr=0.27 brk=0.00 str=-0.26 safe=0 progress=88.5% goal=24.64m dL=0.12 ttc=17.33s tl=None credit=0 reason=
[STEP] step=1380 speed= 10.46km/h thr=0.18 brk=0.00 str=-0.12 safe=0 progress=89.8% goal=21.88m dL=0.19 ttc=15.10s tl=None credit=0 reason=
[STEP] step=1400 speed=  7.83km/h thr=0.00 brk=0.32 str=-0.16 safe=0 progress=91.1% goal=19.12m dL=0.15 ttc=15.68s tl=None credit=0 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.12 safe=0 progress=91.3% goal=18.67m dL=0.15 ttc=19.38s tl=None credit=0 reason=
[STEP] step=1440 speed= 11.26km/h thr=0.42 brk=0.00 str=-0.03 safe=1 progress=91.8% goal=17.52m dL=0.10 ttc=12.71s tl=None credit=0 reason=
[STEP] step=1460 speed= 17.19km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=93.7% goal=13.47m dL=0.00 ttc=10.40s tl=None credit=0 reason=
[STEP] step=1462 speed= 17.55km/h thr=0.30 brk=0.00 str=-0.12 safe=0 progress=93.9% goal=12.98m dL=0.00 ttc=10.47s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=06 R=-44.90 steps=1462 success=1 progress=93.9% DS=93.94 intv=0.085 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 216 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=10.85s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=1.87s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.14km/h thr=0.22 brk=0.00 str=+0.00 safe=0 progress=23.6% goal=163.69m dL=0.12 ttc=0.83s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.60km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=25.7% goal=159.02m dL=0.20 ttc=7.05s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.72km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=27.9% goal=154.38m dL=0.19 ttc=6.09s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.26km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=30.1% goal=149.70m dL=0.18 ttc=5.04s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.66km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=32.3% goal=144.93m dL=0.14 ttc=4.40s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.81km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=34.4% goal=140.57m dL=0.07 ttc=3.99s tl=Yellow credit=0 reason=
[STEP] step=0180 speed= 12.13km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=36.3% goal=136.49m dL=0.05 ttc=5.41s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.02 safe=0 progress=37.4% goal=134.02m dL=0.01 ttc=10.66s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.37km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=37.4% goal=134.01m dL=0.01 ttc=11.95s tl=None credit=0 reason=
[STEP] step=0240 speed= 11.28km/h thr=0.24 brk=0.00 str=+0.09 safe=0 progress=38.3% goal=132.12m dL=0.14 ttc=10.34s tl=None credit=0 reason=
[STEP] step=0260 speed=  6.67km/h thr=0.00 brk=0.18 str=+0.00 safe=0 progress=39.5% goal=129.60m dL=0.56 ttc=13.09s tl=None credit=0 reason=
[STEP] step=0280 speed=  1.11km/h thr=0.48 brk=0.00 str=+0.09 safe=0 progress=39.5% goal=129.48m dL=0.58 ttc=9.52s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.38 safe=0 progress=40.0% goal=128.39m dL=0.58 ttc=4.30s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.30 safe=0 progress=40.0% goal=128.39m dL=0.58 ttc=3.91s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.27 safe=0 progress=40.0% goal=128.39m dL=0.58 ttc=3.38s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.20km/h thr=0.36 brk=0.00 str=-0.21 safe=0 progress=40.0% goal=128.39m dL=0.58 ttc=9.42s tl=None credit=0 reason=
[STEP] step=0380 speed=  6.62km/h thr=0.00 brk=0.22 str=-0.11 safe=0 progress=40.6% goal=127.25m dL=0.32 ttc=10.45s tl=None credit=0 reason=
[STEP] step=0400 speed=  6.22km/h thr=0.20 brk=0.00 str=-0.51 safe=0 progress=41.1% goal=126.20m dL=0.33 ttc=8.94s tl=None credit=0 reason=
[STEP] step=0420 speed=  6.12km/h thr=0.09 brk=0.00 str=-0.05 safe=0 progress=41.9% goal=124.49m dL=0.10 ttc=7.87s tl=None credit=0 reason=
[STEP] step=0440 speed=  6.15km/h thr=0.10 brk=0.00 str=-0.44 safe=0 progress=42.6% goal=122.81m dL=0.00 ttc=6.39s tl=None credit=0 reason=
[STEP] step=0460 speed=  5.96km/h thr=0.12 brk=0.00 str=-0.48 safe=0 progress=43.4% goal=121.11m dL=0.03 ttc=5.27s tl=None credit=0 reason=
[STEP] step=0480 speed=  7.58km/h thr=0.16 brk=0.00 str=-0.39 safe=0 progress=44.3% goal=119.29m dL=0.12 ttc=4.98s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.10km/h thr=0.63 brk=0.00 str=-0.16 safe=0 progress=45.6% goal=116.46m dL=0.27 ttc=5.98s tl=None credit=0 reason=
[STEP] step=0520 speed= 16.37km/h thr=0.17 brk=0.00 str=+0.00 safe=0 progress=47.8% goal=111.68m dL=0.13 ttc=11.07s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.92km/h thr=0.16 brk=0.00 str=+0.03 safe=0 progress=49.9% goal=107.18m dL=0.05 ttc=10.71s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.07km/h thr=0.16 brk=0.00 str=-0.06 safe=0 progress=52.0% goal=102.67m dL=0.00 ttc=10.14s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.46km/h thr=0.25 brk=0.00 str=+0.06 safe=0 progress=54.1% goal=98.19m dL=0.04 ttc=6.46s tl=None credit=0 reason=
[STEP] step=0600 speed= 12.28km/h thr=0.00 brk=0.64 str=-0.05 safe=0 progress=56.2% goal=93.86m dL=0.04 ttc=5.09s tl=Red credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.06 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=10.67s tl=Red credit=8 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.06 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=9.79s tl=Red credit=28 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.05 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=8.93s tl=Red credit=48 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.00 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=8.10s tl=Red credit=68 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.01 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=7.34s tl=Red credit=88 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.03 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=6.67s tl=Red credit=108 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.03 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=6.56s tl=Red credit=128 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.03 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=7.52s tl=Red credit=148 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.12 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=9.40s tl=Red credit=168 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.11 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=8.83s tl=Red credit=188 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.11 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=7.84s tl=Red credit=208 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.08 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=7.33s tl=Red credit=228 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.04 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=7.19s tl=Red credit=248 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.10 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=9.14s tl=Red credit=268 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.07 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=7.16s tl=Red credit=288 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.09 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=6.90s tl=Red credit=308 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.02 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=5.14s tl=Red credit=328 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.59 str=+0.12 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=2.99s tl=Red credit=348 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.03 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=2.02s tl=Red credit=368 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.14 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=4.27s tl=Red credit=388 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.10 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=2.75s tl=Red credit=408 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.06 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=18.73s tl=Red credit=428 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.09 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=20.78s tl=Red credit=448 reason=
[STEP] step=1080 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.11 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=23.25s tl=Red credit=468 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.06 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=161.64s tl=Red credit=488 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.02 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=30.70s tl=Red credit=508 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.09 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=21.57s tl=Red credit=528 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.05 safe=0 progress=56.9% goal=92.37m dL=0.03 ttc=20.54s tl=Green credit=540 reason=
[STEP] step=1180 speed=  2.42km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=56.9% goal=92.31m dL=0.03 ttc=17.90s tl=Green credit=520 reason=
[STEP] step=1200 speed= 16.32km/h thr=0.36 brk=0.00 str=+0.04 safe=0 progress=58.3% goal=89.36m dL=0.01 ttc=12.83s tl=None credit=500 reason=
[STEP] step=1220 speed= 14.77km/h thr=0.00 brk=0.32 str=-0.16 safe=0 progress=60.4% goal=84.78m dL=0.11 ttc=13.15s tl=None credit=480 reason=
[STEP] step=1240 speed=  7.94km/h thr=0.06 brk=0.00 str=+0.39 safe=0 progress=61.8% goal=81.81m dL=0.64 ttc=9.63s tl=None credit=460 reason=
[STEP] step=1260 speed=  6.08km/h thr=0.16 brk=0.00 str=+0.50 safe=0 progress=62.6% goal=79.99m dL=0.40 ttc=9.79s tl=None credit=440 reason=
[STEP] step=1280 speed=  6.44km/h thr=0.14 brk=0.00 str=+0.52 safe=0 progress=63.4% goal=78.36m dL=0.10 ttc=4.34s tl=None credit=420 reason=
[STEP] step=1300 speed=  6.28km/h thr=0.14 brk=0.00 str=+0.45 safe=0 progress=64.2% goal=76.66m dL=0.00 ttc=4.06s tl=None credit=400 reason=
[STEP] step=1320 speed=  6.49km/h thr=0.15 brk=0.00 str=+0.58 safe=0 progress=65.0% goal=74.93m dL=0.15 ttc=27.58s tl=None credit=380 reason=
[STEP] step=1340 speed=  8.38km/h thr=0.38 brk=0.00 str=+0.39 safe=0 progress=65.9% goal=72.96m dL=0.38 ttc=7.67s tl=None credit=360 reason=
[STEP] step=1360 speed= 15.16km/h thr=0.42 brk=0.00 str=+0.09 safe=0 progress=67.5% goal=69.64m dL=0.27 ttc=12.15s tl=None credit=340 reason=
[STEP] step=1380 speed= 16.11km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=69.6% goal=65.10m dL=0.17 ttc=10.86s tl=None credit=320 reason=
[STEP] step=1400 speed= 16.84km/h thr=0.26 brk=0.00 str=+0.04 safe=0 progress=71.7% goal=60.60m dL=0.11 ttc=10.02s tl=None credit=300 reason=
[STEP] step=1420 speed= 17.08km/h thr=0.25 brk=0.00 str=+0.06 safe=0 progress=73.9% goal=55.86m dL=0.08 ttc=9.87s tl=None credit=280 reason=
[STEP] step=1440 speed= 15.95km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=76.1% goal=51.20m dL=0.10 ttc=6.49s tl=Red credit=260 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.16 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=2.98s tl=Red credit=242 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.36 str=+0.06 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=6.05s tl=Red credit=262 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.02 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=5.54s tl=Red credit=282 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.06 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=3.33s tl=Red credit=302 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.07 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=3.65s tl=Red credit=322 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.02 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=1.44s tl=Red credit=342 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.04 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=1.36s tl=Red credit=362 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.03 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=9.44s tl=Red credit=382 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=8.67s tl=Red credit=402 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.00 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=8.01s tl=Red credit=422 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.07 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=7.48s tl=Red credit=442 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.02 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=8.31s tl=Red credit=462 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.08 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=9.83s tl=Red credit=482 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.06 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=16.88s tl=Red credit=502 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.07 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=21.68s tl=Red credit=522 reason=
[STEP] step=1760 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.01 safe=0 progress=77.4% goal=48.36m dL=0.03 ttc=21.26s tl=Red credit=542 reason=
[STEP] step=1780 speed=  0.07km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=77.4% goal=48.36m dL=0.03 ttc=19.80s tl=Green credit=522 reason=
[STEP] step=1800 speed= 12.99km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=78.3% goal=46.37m dL=0.02 ttc=11.70s tl=Green credit=502 reason=
[STEP] step=1820 speed= 12.42km/h thr=0.00 brk=0.09 str=-0.13 safe=0 progress=80.2% goal=42.49m dL=0.28 ttc=9.21s tl=None credit=482 reason=
[STEP] step=1840 speed= 10.45km/h thr=0.17 brk=0.00 str=-0.13 safe=0 progress=81.5% goal=39.51m dL=0.25 ttc=8.21s tl=None credit=462 reason=
[STEP] step=1860 speed= 10.46km/h thr=0.18 brk=0.00 str=-0.11 safe=0 progress=82.9% goal=36.64m dL=0.39 ttc=7.38s tl=None credit=442 reason=
[STEP] step=1880 speed=  7.99km/h thr=0.16 brk=0.00 str=-0.38 safe=0 progress=84.0% goal=34.28m dL=0.28 ttc=5.43s tl=None credit=422 reason=
[STEP] step=1900 speed=  8.09km/h thr=0.15 brk=0.00 str=-0.25 safe=0 progress=85.1% goal=31.93m dL=0.13 ttc=5.45s tl=None credit=402 reason=
[STEP] step=1920 speed=  7.96km/h thr=0.16 brk=0.00 str=-0.26 safe=0 progress=86.1% goal=29.70m dL=0.07 ttc=9.18s tl=None credit=382 reason=
[STEP] step=1940 speed=  7.95km/h thr=0.13 brk=0.00 str=-0.27 safe=0 progress=87.2% goal=27.51m dL=0.07 ttc=4.50s tl=None credit=362 reason=
[STEP] step=1960 speed=  8.30km/h thr=0.12 brk=0.00 str=-0.20 safe=0 progress=88.2% goal=25.28m dL=0.03 ttc=9.75s tl=None credit=342 reason=
[STEP] step=1980 speed= 12.73km/h thr=0.33 brk=0.00 str=-0.12 safe=0 progress=89.5% goal=22.59m dL=0.09 ttc=8.73s tl=None credit=322 reason=
[STEP] step=2000 speed= 16.85km/h thr=0.65 brk=0.00 str=-0.09 safe=0 progress=91.3% goal=18.55m dL=0.06 ttc=8.69s tl=None credit=302 reason=
[STEP] step=2020 speed= 23.23km/h thr=0.54 brk=0.00 str=+0.00 safe=0 progress=93.9% goal=13.01m dL=0.27 ttc=11.91s tl=None credit=282 reason=
[STEP] step=2021 speed= 23.76km/h thr=0.54 brk=0.00 str=-0.00 safe=0 progress=94.1% goal=12.68m dL=0.28 ttc=11.83s tl=None credit=281 reason=goal
[Town02_zeroshot_source_agent] ep=07 R=109.09 steps=2021 success=1 progress=94.1% DS=94.08 intv=0.049 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 231 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=12 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=85.98s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=20.51s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.11km/h thr=0.42 brk=0.00 str=-0.06 safe=0 progress=23.4% goal=163.98m dL=0.06 ttc=10.93s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.15km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=25.5% goal=159.45m dL=0.15 ttc=9.32s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.99km/h thr=0.43 brk=0.00 str=-0.02 safe=0 progress=27.7% goal=154.79m dL=0.45 ttc=8.07s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.12km/h thr=0.20 brk=0.00 str=+0.10 safe=0 progress=30.0% goal=149.99m dL=0.43 ttc=7.37s tl=None credit=0 reason=
[STEP] step=0140 speed= 14.42km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=31.8% goal=146.11m dL=0.09 ttc=6.59s tl=None credit=0 reason=
[STEP] step=0160 speed= 12.50km/h thr=0.00 brk=0.40 str=-0.10 safe=0 progress=33.8% goal=141.82m dL=0.02 ttc=5.79s tl=Red credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.15 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=6.61s tl=Red credit=4 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.13 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=6.11s tl=Red credit=24 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.02 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=6.10s tl=Red credit=44 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.11 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=6.12s tl=Red credit=64 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.11 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=20.15s tl=Red credit=84 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.17 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=14.87s tl=Red credit=104 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.13 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=15.17s tl=Red credit=124 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.10 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=7.16s tl=Red credit=144 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.61 str=+0.07 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=5.24s tl=Red credit=164 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.04 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=4.24s tl=Red credit=184 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.10 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=3.24s tl=Red credit=204 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.06 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=2.29s tl=Red credit=224 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.01 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=9.11s tl=Red credit=244 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.05 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=8.12s tl=Red credit=264 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.00 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=3.47s tl=Red credit=284 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.04 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=3.14s tl=Red credit=304 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.06 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=6.68s tl=Red credit=324 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.04 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=14.64s tl=Red credit=344 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.00 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=14.92s tl=Red credit=364 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.01 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=14.50s tl=Red credit=384 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.07 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=14.22s tl=Red credit=404 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.07 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=14.16s tl=Red credit=424 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.04 safe=0 progress=34.7% goal=139.76m dL=0.03 ttc=14.37s tl=Green credit=436 reason=
[STEP] step=0640 speed=  2.39km/h thr=0.75 brk=0.00 str=+0.05 safe=1 progress=34.8% goal=139.70m dL=0.03 ttc=9.24s tl=Green credit=416 reason=
[STEP] step=0660 speed= 14.35km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=36.0% goal=137.00m dL=0.01 ttc=8.97s tl=None credit=396 reason=
[STEP] step=0680 speed= 12.20km/h thr=0.00 brk=0.15 str=+0.10 safe=0 progress=37.8% goal=133.13m dL=0.15 ttc=9.66s tl=None credit=376 reason=
[STEP] step=0700 speed=  8.04km/h thr=0.12 brk=0.00 str=+0.38 safe=0 progress=39.1% goal=130.41m dL=0.31 ttc=7.51s tl=None credit=356 reason=
[STEP] step=0720 speed=  3.11km/h thr=0.42 brk=0.00 str=-0.35 safe=0 progress=39.8% goal=128.94m dL=0.59 ttc=3.85s tl=None credit=336 reason=
[STEP] step=0740 speed=  5.85km/h thr=0.12 brk=0.00 str=-0.09 safe=0 progress=40.5% goal=127.40m dL=0.36 ttc=3.75s tl=None credit=316 reason=
[STEP] step=0760 speed=  6.01km/h thr=0.11 brk=0.00 str=-0.59 safe=0 progress=41.2% goal=125.85m dL=0.37 ttc=4.18s tl=None credit=296 reason=
[STEP] step=0780 speed=  6.02km/h thr=0.11 brk=0.00 str=-0.16 safe=0 progress=42.0% goal=124.16m dL=0.14 ttc=3.75s tl=None credit=276 reason=
[STEP] step=0800 speed=  6.33km/h thr=0.30 brk=0.00 str=-0.44 safe=0 progress=42.8% goal=122.50m dL=0.03 ttc=3.09s tl=None credit=256 reason=
[STEP] step=0820 speed=  6.22km/h thr=0.13 brk=0.00 str=-0.44 safe=0 progress=43.6% goal=120.75m dL=0.01 ttc=5.51s tl=None credit=236 reason=
[STEP] step=0840 speed=  8.07km/h thr=0.32 brk=0.00 str=-0.34 safe=0 progress=44.5% goal=118.81m dL=0.16 ttc=4.89s tl=None credit=216 reason=
[STEP] step=0860 speed= 13.66km/h thr=0.42 brk=0.00 str=-0.15 safe=0 progress=45.9% goal=115.75m dL=0.21 ttc=4.19s tl=None credit=196 reason=
[STEP] step=0880 speed= 16.81km/h thr=0.30 brk=0.00 str=+0.01 safe=0 progress=48.0% goal=111.31m dL=0.06 ttc=2.54s tl=None credit=176 reason=
[STEP] step=0900 speed= 17.31km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=50.2% goal=106.57m dL=0.01 ttc=1.77s tl=None credit=156 reason=
[STEP] step=0920 speed= 17.47km/h thr=0.31 brk=0.00 str=+0.05 safe=0 progress=52.5% goal=101.76m dL=0.01 ttc=5.35s tl=None credit=136 reason=
[STEP] step=0940 speed= 18.08km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=54.8% goal=96.78m dL=0.03 ttc=31.34s tl=None credit=116 reason=
[STEP] step=0960 speed= 17.86km/h thr=0.26 brk=0.00 str=+0.04 safe=0 progress=57.1% goal=91.76m dL=0.00 ttc=30.05s tl=Green credit=96 reason=
[STEP] step=0980 speed= 17.97km/h thr=0.15 brk=0.00 str=-0.02 safe=0 progress=59.5% goal=86.76m dL=0.02 ttc=30.04s tl=None credit=76 reason=
[STEP] step=1000 speed= 10.05km/h thr=0.00 brk=0.10 str=-0.21 safe=0 progress=61.3% goal=82.90m dL=0.45 ttc=42.73s tl=None credit=56 reason=
[STEP] step=1020 speed=  6.20km/h thr=0.14 brk=0.00 str=+0.07 safe=0 progress=62.3% goal=80.80m dL=0.56 ttc=3.90s tl=None credit=36 reason=
[STEP] step=1040 speed=  6.37km/h thr=0.13 brk=0.00 str=+0.20 safe=0 progress=63.0% goal=79.20m dL=0.30 ttc=3.97s tl=None credit=16 reason=
[STEP] step=1060 speed=  6.17km/h thr=0.14 brk=0.00 str=+0.25 safe=0 progress=63.8% goal=77.56m dL=0.11 ttc=3.62s tl=None credit=0 reason=
[STEP] step=1080 speed=  6.11km/h thr=0.15 brk=0.00 str=+0.60 safe=0 progress=64.5% goal=75.91m dL=0.01 ttc=3.03s tl=None credit=0 reason=
[STEP] step=1100 speed=  6.92km/h thr=0.30 brk=0.00 str=+0.51 safe=0 progress=65.4% goal=74.13m dL=0.26 ttc=5.54s tl=None credit=0 reason=
[STEP] step=1120 speed= 10.78km/h thr=0.42 brk=0.00 str=+0.27 safe=0 progress=66.5% goal=71.68m dL=0.32 ttc=9.60s tl=None credit=0 reason=
[STEP] step=1140 speed= 17.22km/h thr=0.23 brk=0.00 str=+0.01 safe=0 progress=68.4% goal=67.60m dL=0.16 ttc=17.59s tl=None credit=0 reason=
[STEP] step=1160 speed= 17.92km/h thr=0.33 brk=0.00 str=+0.08 safe=0 progress=70.7% goal=62.73m dL=0.00 ttc=18.39s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.53km/h thr=0.34 brk=0.00 str=+0.05 safe=0 progress=73.1% goal=57.69m dL=0.15 ttc=12.72s tl=None credit=0 reason=
[STEP] step=1200 speed= 19.87km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=75.5% goal=52.39m dL=0.14 ttc=10.31s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.13km/h thr=0.38 brk=0.00 str=+0.01 safe=0 progress=78.0% goal=47.05m dL=0.20 ttc=9.45s tl=Red credit=0 reason=
[STEP] step=1240 speed=  5.96km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=79.6% goal=43.60m dL=0.02 ttc=9.46s tl=None credit=0 reason=
[STEP] step=1260 speed=  8.59km/h thr=0.06 brk=0.00 str=-0.20 safe=0 progress=80.7% goal=41.26m dL=0.10 ttc=8.05s tl=None credit=0 reason=
[STEP] step=1280 speed= 10.19km/h thr=0.16 brk=0.00 str=-0.08 safe=0 progress=81.9% goal=38.74m dL=0.13 ttc=6.86s tl=None credit=0 reason=
[STEP] step=1300 speed= 11.32km/h thr=0.24 brk=0.00 str=-0.14 safe=0 progress=83.3% goal=35.84m dL=0.58 ttc=5.64s tl=None credit=0 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.64 safe=0 progress=84.1% goal=34.08m dL=0.67 ttc=5.26s tl=None credit=0 reason=
[STEP] step=1340 speed=  0.19km/h thr=0.24 brk=0.00 str=-0.64 safe=0 progress=84.1% goal=34.08m dL=0.67 ttc=4.48s tl=None credit=0 reason=
[STEP] step=1360 speed=  8.44km/h thr=0.24 brk=0.00 str=-0.32 safe=0 progress=84.6% goal=33.06m dL=0.46 ttc=3.05s tl=None credit=0 reason=
[STEP] step=1380 speed=  1.44km/h thr=0.42 brk=0.00 str=-0.13 safe=0 progress=85.2% goal=31.76m dL=0.28 ttc=3.07s tl=None credit=0 reason=
[STEP] step=1400 speed=  9.04km/h thr=0.16 brk=0.00 str=-0.24 safe=0 progress=86.0% goal=30.06m dL=0.18 ttc=1.70s tl=None credit=0 reason=
[STEP] step=1420 speed=  7.59km/h thr=0.24 brk=0.00 str=-0.09 safe=0 progress=86.9% goal=27.98m dL=0.11 ttc=1.09s tl=None credit=0 reason=
[STEP] step=1440 speed=  8.19km/h thr=0.12 brk=0.00 str=-0.23 safe=0 progress=88.0% goal=25.77m dL=0.05 ttc=13.10s tl=None credit=0 reason=
[STEP] step=1460 speed= 10.32km/h thr=0.18 brk=0.00 str=-0.15 safe=0 progress=89.1% goal=23.38m dL=0.14 ttc=21.52s tl=None credit=0 reason=
[STEP] step=1480 speed= 10.50km/h thr=0.18 brk=0.00 str=-0.14 safe=0 progress=90.5% goal=20.44m dL=0.13 ttc=35.49s tl=None credit=0 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.14 safe=0 progress=91.4% goal=18.43m dL=0.11 ttc=916.45s tl=None credit=0 reason=
[STEP] step=1520 speed=  2.25km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=91.4% goal=18.38m dL=0.11 ttc=167.21s tl=None credit=0 reason=
[STEP] step=1540 speed= 14.28km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=92.7% goal=15.70m dL=0.05 ttc=25.49s tl=None credit=0 reason=
[STEP] step=1554 speed= 13.35km/h thr=0.12 brk=0.00 str=-0.15 safe=0 progress=94.0% goal=12.87m dL=0.12 ttc=15.14s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=08 R=-85.15 steps=1554 success=1 progress=94.0% DS=93.99 intv=0.048 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 245 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=42.03s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=10.18s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.73km/h thr=0.38 brk=0.00 str=-0.03 safe=0 progress=23.6% goal=163.51m dL=0.01 ttc=6.43s tl=None credit=0 reason=
[STEP] step=0080 speed= 22.23km/h thr=0.13 brk=0.00 str=+0.01 safe=0 progress=26.3% goal=157.71m dL=0.09 ttc=5.00s tl=None credit=0 reason=
[STEP] step=0100 speed= 14.33km/h thr=0.00 brk=0.13 str=-0.02 safe=0 progress=28.7% goal=152.68m dL=0.11 ttc=5.32s tl=None credit=0 reason=
[STEP] step=0120 speed= 15.01km/h thr=0.42 brk=0.00 str=+0.07 safe=0 progress=30.4% goal=149.03m dL=0.03 ttc=4.77s tl=None credit=0 reason=
[STEP] step=0140 speed= 15.58km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=32.5% goal=144.53m dL=0.04 ttc=10.05s tl=Green credit=0 reason=
[STEP] step=0160 speed= 13.75km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=34.4% goal=140.55m dL=0.07 ttc=10.35s tl=Yellow credit=0 reason=
[STEP] step=0180 speed= 12.78km/h thr=0.16 brk=0.00 str=+0.01 safe=0 progress=36.2% goal=136.68m dL=0.09 ttc=9.56s tl=None credit=0 reason=
[STEP] step=0200 speed=  8.31km/h thr=0.00 brk=0.24 str=-0.04 safe=0 progress=37.6% goal=133.61m dL=0.08 ttc=6.55s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.33km/h thr=0.16 brk=0.00 str=-0.08 safe=0 progress=38.5% goal=131.63m dL=0.23 ttc=5.49s tl=None credit=0 reason=
[STEP] step=0240 speed=  7.75km/h thr=0.00 brk=0.08 str=-0.06 safe=0 progress=39.6% goal=129.37m dL=0.50 ttc=4.64s tl=None credit=0 reason=
[STEP] step=0260 speed=  6.04km/h thr=0.00 brk=0.16 str=-0.37 safe=0 progress=40.4% goal=127.72m dL=0.37 ttc=3.99s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.96km/h thr=0.00 brk=0.12 str=-0.30 safe=0 progress=41.0% goal=126.30m dL=0.31 ttc=3.53s tl=None credit=0 reason=
[STEP] step=0300 speed=  6.74km/h thr=0.09 brk=0.00 str=-0.60 safe=0 progress=41.5% goal=125.32m dL=0.27 ttc=2.36s tl=None credit=0 reason=
[STEP] step=0320 speed=  6.22km/h thr=0.17 brk=0.00 str=-0.52 safe=0 progress=42.3% goal=123.64m dL=0.03 ttc=1.94s tl=None credit=0 reason=
[STEP] step=0340 speed=  6.57km/h thr=0.06 brk=0.00 str=+0.05 safe=0 progress=43.1% goal=121.90m dL=0.00 ttc=4.28s tl=None credit=0 reason=
[STEP] step=0360 speed=  6.19km/h thr=0.12 brk=0.00 str=-0.41 safe=0 progress=43.9% goal=120.19m dL=0.01 ttc=12.16s tl=None credit=0 reason=
[STEP] step=0380 speed=  9.69km/h thr=0.30 brk=0.00 str=-0.31 safe=0 progress=44.9% goal=118.04m dL=0.25 ttc=12.43s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.57km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=46.5% goal=114.54m dL=0.22 ttc=8.86s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.98km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=48.7% goal=109.87m dL=0.13 ttc=8.15s tl=None credit=0 reason=
[STEP] step=0440 speed= 16.77km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=50.9% goal=105.20m dL=0.17 ttc=7.98s tl=None credit=0 reason=
[STEP] step=0460 speed= 18.18km/h thr=0.40 brk=0.00 str=+0.00 safe=0 progress=53.2% goal=100.31m dL=0.20 ttc=8.71s tl=None credit=0 reason=
[STEP] step=0480 speed= 19.57km/h thr=0.28 brk=0.00 str=+0.10 safe=0 progress=55.6% goal=95.14m dL=0.21 ttc=9.26s tl=Yellow credit=0 reason=
[STEP] step=0500 speed= 20.22km/h thr=0.41 brk=0.00 str=+0.10 safe=0 progress=58.1% goal=89.77m dL=0.23 ttc=8.54s tl=None credit=0 reason=
[STEP] step=0520 speed=  8.85km/h thr=0.00 brk=0.26 str=-0.21 safe=0 progress=60.6% goal=84.33m dL=0.35 ttc=7.31s tl=None credit=0 reason=
[STEP] step=0540 speed=  6.78km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=61.0% goal=83.51m dL=0.32 ttc=5.48s tl=None credit=0 reason=
[STEP] step=0560 speed=  6.27km/h thr=0.15 brk=0.00 str=+0.21 safe=0 progress=61.9% goal=81.62m dL=0.51 ttc=4.48s tl=None credit=0 reason=
[STEP] step=0580 speed=  6.29km/h thr=0.16 brk=0.00 str=+0.48 safe=0 progress=62.7% goal=79.96m dL=0.34 ttc=3.71s tl=None credit=0 reason=
[STEP] step=0600 speed=  6.46km/h thr=0.17 brk=0.00 str=+0.61 safe=0 progress=63.4% goal=78.28m dL=0.09 ttc=3.07s tl=None credit=0 reason=
[STEP] step=0620 speed=  6.56km/h thr=0.15 brk=0.00 str=+0.36 safe=0 progress=64.3% goal=76.54m dL=0.01 ttc=2.24s tl=None credit=0 reason=
[STEP] step=0640 speed=  6.55km/h thr=0.14 brk=0.00 str=+0.58 safe=0 progress=65.1% goal=74.79m dL=0.17 ttc=1.59s tl=None credit=0 reason=
[STEP] step=0660 speed=  9.01km/h thr=0.42 brk=0.00 str=+0.36 safe=0 progress=66.1% goal=72.62m dL=0.40 ttc=6.52s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.17km/h thr=0.42 brk=0.00 str=+0.10 safe=0 progress=67.7% goal=69.12m dL=0.18 ttc=11.00s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.21km/h thr=0.16 brk=0.00 str=-0.02 safe=0 progress=69.9% goal=64.51m dL=0.04 ttc=12.58s tl=None credit=0 reason=
[STEP] step=0720 speed= 16.01km/h thr=0.28 brk=0.00 str=-0.06 safe=0 progress=72.0% goal=60.01m dL=0.03 ttc=11.73s tl=None credit=0 reason=
[STEP] step=0740 speed= 15.87km/h thr=0.13 brk=0.00 str=+0.03 safe=0 progress=74.1% goal=55.48m dL=0.06 ttc=10.87s tl=None credit=0 reason=
[STEP] step=0760 speed= 14.19km/h thr=0.10 brk=0.00 str=+0.01 safe=0 progress=76.1% goal=51.28m dL=0.05 ttc=11.08s tl=Red credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.00 safe=0 progress=77.0% goal=49.17m dL=0.10 ttc=999.00s tl=Red credit=6 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.08 safe=0 progress=77.0% goal=49.17m dL=0.10 ttc=999.00s tl=Red credit=26 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.05 safe=0 progress=77.0% goal=49.17m dL=0.10 ttc=999.00s tl=Red credit=46 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.07 safe=0 progress=77.0% goal=49.17m dL=0.10 ttc=999.00s tl=Red credit=66 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.08 safe=0 progress=77.0% goal=49.17m dL=0.10 ttc=99.13s tl=Green credit=58 reason=
[STEP] step=0880 speed= 10.38km/h thr=0.42 brk=0.00 str=+0.02 safe=1 progress=77.5% goal=48.18m dL=0.06 ttc=14.10s tl=Green credit=38 reason=
[STEP] step=0900 speed= 13.60km/h thr=0.00 brk=0.16 str=-0.05 safe=0 progress=79.2% goal=44.47m dL=0.14 ttc=9.87s tl=None credit=18 reason=
[STEP] step=0920 speed=  7.02km/h thr=0.00 brk=0.07 str=-0.15 safe=0 progress=80.5% goal=41.70m dL=0.23 ttc=17.47s tl=None credit=0 reason=
[STEP] step=0940 speed=  9.27km/h thr=0.15 brk=0.00 str=-0.16 safe=0 progress=81.6% goal=39.50m dL=0.19 ttc=12.33s tl=None credit=0 reason=
[STEP] step=0960 speed=  7.46km/h thr=0.24 brk=0.00 str=-0.12 safe=0 progress=82.5% goal=37.39m dL=0.10 ttc=14.48s tl=None credit=0 reason=
[STEP] step=0980 speed=  8.14km/h thr=0.11 brk=0.00 str=-0.13 safe=0 progress=83.6% goal=35.16m dL=0.06 ttc=12.82s tl=None credit=0 reason=
[STEP] step=1000 speed=  8.09km/h thr=0.17 brk=0.00 str=-0.15 safe=0 progress=84.6% goal=32.91m dL=0.08 ttc=12.92s tl=None credit=0 reason=
[STEP] step=1020 speed=  7.98km/h thr=0.19 brk=0.00 str=+0.00 safe=0 progress=85.7% goal=30.66m dL=0.04 ttc=13.55s tl=None credit=0 reason=
[STEP] step=1040 speed=  7.84km/h thr=0.05 brk=0.00 str=+0.08 safe=0 progress=86.7% goal=28.44m dL=0.03 ttc=13.80s tl=None credit=0 reason=
[STEP] step=1060 speed=  8.13km/h thr=0.17 brk=0.00 str=-0.16 safe=0 progress=87.7% goal=26.39m dL=0.02 ttc=9.95s tl=None credit=0 reason=
[STEP] step=1080 speed=  9.40km/h thr=0.36 brk=0.00 str=-0.28 safe=0 progress=88.8% goal=24.04m dL=0.08 ttc=7.43s tl=None credit=0 reason=
[STEP] step=1100 speed= 13.16km/h thr=0.28 brk=0.00 str=-0.15 safe=0 progress=90.3% goal=20.81m dL=0.01 ttc=7.06s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.23km/h thr=0.56 brk=0.00 str=-0.06 safe=0 progress=92.3% goal=16.45m dL=0.00 ttc=7.72s tl=None credit=0 reason=
[STEP] step=1133 speed= 21.56km/h thr=0.46 brk=0.00 str=+0.02 safe=0 progress=94.0% goal=12.90m dL=0.06 ttc=8.61s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=09 R=-174.82 steps=1133 success=1 progress=94.0% DS=93.97 intv=0.044 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 260 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.04 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=75.55s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=18.96s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.42km/h thr=0.42 brk=0.00 str=-0.12 safe=0 progress=23.4% goal=163.93m dL=0.11 ttc=11.89s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.86km/h thr=0.10 brk=0.00 str=-0.03 safe=0 progress=25.7% goal=159.14m dL=0.20 ttc=8.51s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.25km/h thr=0.19 brk=0.00 str=-0.02 safe=0 progress=27.8% goal=154.61m dL=0.11 ttc=7.42s tl=None credit=0 reason=
[STEP] step=0120 speed= 15.57km/h thr=0.42 brk=0.00 str=+0.00 safe=0 progress=29.8% goal=150.38m dL=0.04 ttc=6.70s tl=None credit=0 reason=
[STEP] step=0140 speed= 11.89km/h thr=0.00 brk=0.26 str=+0.02 safe=0 progress=31.7% goal=146.17m dL=0.04 ttc=6.09s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.79 str=-0.06 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=3.84s tl=Red credit=7 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.86 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=2.87s tl=Red credit=27 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=2.10s tl=Red credit=47 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.81 str=-0.01 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=4.02s tl=Red credit=67 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.80 str=-0.02 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=3.35s tl=Red credit=87 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.80 str=-0.06 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=18.85s tl=Red credit=107 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=23.27s tl=Red credit=127 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=19.54s tl=Red credit=147 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=14.17s tl=Red credit=167 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=12.87s tl=Red credit=187 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=11.85s tl=Red credit=207 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=10.85s tl=Red credit=227 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=9.85s tl=Red credit=247 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=8.85s tl=Red credit=267 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.83 str=-0.04 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=7.86s tl=Red credit=287 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.01 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=6.86s tl=Red credit=307 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.84 str=-0.04 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=11.91s tl=Red credit=327 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.04 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=16.37s tl=Red credit=347 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=15.59s tl=Red credit=367 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.04 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=18.31s tl=Red credit=387 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.04 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=17.84s tl=Red credit=407 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.82 str=-0.04 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=17.70s tl=Red credit=427 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.03 safe=0 progress=32.5% goal=144.51m dL=0.00 ttc=42.87s tl=Green credit=427 reason=
[STEP] step=0620 speed=  7.58km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=32.7% goal=144.04m dL=0.01 ttc=15.46s tl=Green credit=407 reason=
[STEP] step=0640 speed= 17.70km/h thr=0.14 brk=0.00 str=-0.00 safe=0 progress=34.7% goal=139.91m dL=0.00 ttc=7.76s tl=Green credit=387 reason=
[STEP] step=0660 speed= 14.43km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=36.7% goal=135.47m dL=0.01 ttc=6.44s tl=None credit=367 reason=
[STEP] step=0680 speed=  9.25km/h thr=0.05 brk=0.00 str=+0.04 safe=0 progress=38.3% goal=132.20m dL=0.19 ttc=11.39s tl=None credit=347 reason=
[STEP] step=0700 speed=  6.91km/h thr=0.12 brk=0.00 str=+0.36 safe=0 progress=39.3% goal=130.02m dL=0.39 ttc=8.88s tl=None credit=327 reason=
[STEP] step=0720 speed=  5.95km/h thr=0.00 brk=0.17 str=-0.50 safe=0 progress=40.0% goal=128.47m dL=0.53 ttc=5.77s tl=None credit=307 reason=
[STEP] step=0740 speed=  7.47km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=40.6% goal=127.15m dL=0.30 ttc=4.36s tl=None credit=287 reason=
[STEP] step=0760 speed=  6.26km/h thr=0.09 brk=0.00 str=-0.59 safe=0 progress=41.4% goal=125.50m dL=0.30 ttc=3.37s tl=None credit=267 reason=
[STEP] step=0780 speed=  5.93km/h thr=0.12 brk=0.00 str=-0.45 safe=0 progress=42.2% goal=123.80m dL=0.06 ttc=9.56s tl=None credit=247 reason=
[STEP] step=0800 speed=  6.35km/h thr=0.00 brk=0.05 str=-0.04 safe=0 progress=43.0% goal=122.09m dL=0.02 ttc=16.34s tl=None credit=227 reason=
[STEP] step=0820 speed=  6.34km/h thr=0.09 brk=0.00 str=-0.44 safe=0 progress=43.8% goal=120.39m dL=0.00 ttc=12.42s tl=None credit=207 reason=
[STEP] step=0840 speed=  9.18km/h thr=0.42 brk=0.00 str=-0.33 safe=0 progress=44.8% goal=118.26m dL=0.24 ttc=5.40s tl=None credit=187 reason=
[STEP] step=0860 speed= 14.99km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=46.3% goal=114.91m dL=0.20 ttc=3.60s tl=None credit=167 reason=
[STEP] step=0880 speed= 16.43km/h thr=0.26 brk=0.00 str=-0.09 safe=0 progress=48.5% goal=110.35m dL=0.07 ttc=2.38s tl=None credit=147 reason=
[STEP] step=0900 speed= 16.83km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=50.6% goal=105.75m dL=0.05 ttc=1.72s tl=None credit=127 reason=
[STEP] step=0920 speed= 17.10km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=52.8% goal=101.03m dL=0.03 ttc=18.93s tl=None credit=107 reason=
[STEP] step=0940 speed= 17.38km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=55.1% goal=96.24m dL=0.03 ttc=18.57s tl=None credit=87 reason=
[STEP] step=0960 speed= 17.38km/h thr=0.23 brk=0.00 str=-0.03 safe=0 progress=57.3% goal=91.40m dL=0.01 ttc=18.83s tl=Green credit=67 reason=
[STEP] step=0980 speed= 16.78km/h thr=0.16 brk=0.00 str=+0.02 safe=0 progress=59.5% goal=86.62m dL=0.01 ttc=14.58s tl=None credit=47 reason=
[STEP] step=1000 speed= 10.12km/h thr=0.00 brk=0.07 str=-0.26 safe=0 progress=61.3% goal=82.85m dL=0.43 ttc=11.03s tl=None credit=27 reason=
[STEP] step=1020 speed=  6.34km/h thr=0.12 brk=0.00 str=+0.08 safe=0 progress=62.3% goal=80.72m dL=0.52 ttc=9.16s tl=None credit=7 reason=
[STEP] step=1040 speed=  6.29km/h thr=0.14 brk=0.00 str=+0.27 safe=0 progress=63.1% goal=79.09m dL=0.27 ttc=4.35s tl=None credit=0 reason=
[STEP] step=1060 speed=  6.24km/h thr=0.13 brk=0.00 str=+0.34 safe=0 progress=63.8% goal=77.41m dL=0.06 ttc=4.14s tl=None credit=0 reason=
[STEP] step=1080 speed=  6.18km/h thr=0.17 brk=0.00 str=+0.64 safe=0 progress=64.6% goal=75.70m dL=0.10 ttc=3.54s tl=None credit=0 reason=
[STEP] step=1100 speed=  7.14km/h thr=0.31 brk=0.00 str=+0.49 safe=0 progress=65.5% goal=73.88m dL=0.30 ttc=3.24s tl=None credit=0 reason=
[STEP] step=1120 speed= 11.38km/h thr=0.42 brk=0.00 str=+0.20 safe=0 progress=66.7% goal=71.27m dL=0.31 ttc=5.47s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.57km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=68.6% goal=67.20m dL=0.15 ttc=4.57s tl=None credit=0 reason=
[STEP] step=1160 speed= 16.44km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=70.7% goal=62.77m dL=0.05 ttc=10.41s tl=None credit=0 reason=
[STEP] step=1180 speed= 15.97km/h thr=0.00 brk=0.08 str=-0.05 safe=0 progress=72.8% goal=58.25m dL=0.05 ttc=9.84s tl=None credit=0 reason=
[STEP] step=1200 speed= 16.12km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=74.9% goal=53.82m dL=0.02 ttc=8.44s tl=None credit=0 reason=
[STEP] step=1220 speed= 14.23km/h thr=0.12 brk=0.00 str=+0.01 safe=0 progress=76.9% goal=49.53m dL=0.03 ttc=4.40s tl=Red credit=0 reason=
[STEP] step=1240 speed= 13.46km/h thr=0.29 brk=0.00 str=+0.18 safe=0 progress=78.7% goal=45.66m dL=0.14 ttc=4.13s tl=None credit=0 reason=
[STEP] step=1260 speed= 10.30km/h thr=0.06 brk=0.00 str=-0.10 safe=0 progress=80.3% goal=42.17m dL=0.29 ttc=3.05s tl=None credit=0 reason=
[STEP] step=1280 speed= 10.62km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=81.6% goal=39.40m dL=0.27 ttc=2.11s tl=None credit=0 reason=
[STEP] step=1300 speed= 11.41km/h thr=0.15 brk=0.00 str=-0.16 safe=0 progress=83.0% goal=36.43m dL=0.51 ttc=2.77s tl=None credit=0 reason=
[STEP] step=1320 speed=  7.73km/h thr=0.15 brk=0.00 str=-0.72 safe=0 progress=84.2% goal=33.90m dL=0.58 ttc=1.51s tl=None credit=0 reason=
[STEP] step=1340 speed=  8.19km/h thr=0.37 brk=0.00 str=-0.23 safe=0 progress=85.2% goal=31.74m dL=0.22 ttc=0.78s tl=None credit=0 reason=
[STEP] step=1360 speed=  7.79km/h thr=0.14 brk=0.00 str=-0.27 safe=0 progress=86.3% goal=29.30m dL=0.08 ttc=1.80s tl=None credit=0 reason=
[STEP] step=1380 speed=  7.93km/h thr=0.14 brk=0.00 str=-0.27 safe=0 progress=87.3% goal=27.13m dL=0.03 ttc=2.05s tl=None credit=0 reason=
[STEP] step=1400 speed=  7.91km/h thr=0.14 brk=0.00 str=-0.28 safe=0 progress=88.4% goal=24.95m dL=0.05 ttc=2.30s tl=None credit=0 reason=
[STEP] step=1420 speed= 10.36km/h thr=0.19 brk=0.00 str=-0.12 safe=0 progress=89.6% goal=22.31m dL=0.15 ttc=3.64s tl=None credit=0 reason=
[STEP] step=1440 speed= 10.46km/h thr=0.18 brk=0.00 str=-0.11 safe=0 progress=90.9% goal=19.40m dL=0.06 ttc=1.36s tl=None credit=0 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.12 safe=0 progress=91.9% goal=17.32m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1480 speed=  1.53km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=91.9% goal=17.29m dL=0.11 ttc=26.21s tl=None credit=0 reason=
[STEP] step=1500 speed= 14.18km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=93.1% goal=14.74m dL=0.04 ttc=13.41s tl=None credit=0 reason=
[STEP] step=1509 speed= 17.26km/h thr=0.38 brk=0.00 str=+0.01 safe=0 progress=94.0% goal=12.77m dL=0.09 ttc=15.03s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=10 R=-49.24 steps=1509 success=1 progress=94.0% DS=94.03 intv=0.050 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 276 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=51.47s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=9.56s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.15km/h thr=0.00 brk=0.11 str=+0.04 safe=0 progress=23.5% goal=163.90m dL=0.02 ttc=7.99s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.73km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=25.4% goal=159.81m dL=0.02 ttc=5.67s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.07km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=27.5% goal=155.27m dL=0.03 ttc=8.05s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.52km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=29.6% goal=150.75m dL=0.06 ttc=6.81s tl=None credit=0 reason=
[STEP] step=0140 speed= 15.38km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=31.7% goal=146.27m dL=0.11 ttc=9.04s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.99km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=33.8% goal=141.86m dL=0.05 ttc=9.50s tl=Yellow credit=0 reason=
[STEP] step=0180 speed= 14.52km/h thr=0.14 brk=0.00 str=-0.02 safe=0 progress=35.7% goal=137.65m dL=0.05 ttc=10.40s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.83km/h thr=0.00 brk=0.14 str=-0.00 safe=0 progress=37.4% goal=134.00m dL=0.02 ttc=14.30s tl=None credit=0 reason=
[STEP] step=0220 speed=  7.84km/h thr=0.17 brk=0.00 str=-0.16 safe=0 progress=38.5% goal=131.67m dL=0.26 ttc=14.42s tl=None credit=0 reason=
[STEP] step=0240 speed=  5.65km/h thr=0.31 brk=0.00 str=+0.30 safe=0 progress=39.4% goal=129.81m dL=0.44 ttc=11.13s tl=None credit=0 reason=
[STEP] step=0260 speed=  6.04km/h thr=0.12 brk=0.00 str=-0.50 safe=0 progress=40.1% goal=128.19m dL=0.45 ttc=19.12s tl=None credit=0 reason=
[STEP] step=0280 speed=  5.96km/h thr=0.13 brk=0.00 str=-0.15 safe=0 progress=40.9% goal=126.57m dL=0.25 ttc=8.63s tl=None credit=0 reason=
[STEP] step=0300 speed=  6.06km/h thr=0.12 brk=0.00 str=-0.50 safe=0 progress=41.6% goal=124.97m dL=0.16 ttc=7.28s tl=None credit=0 reason=
[STEP] step=0320 speed=  6.12km/h thr=0.12 brk=0.00 str=-0.50 safe=0 progress=42.4% goal=123.31m dL=0.01 ttc=6.17s tl=None credit=0 reason=
[STEP] step=0340 speed=  6.03km/h thr=0.12 brk=0.00 str=-0.15 safe=0 progress=43.2% goal=121.63m dL=0.02 ttc=5.23s tl=None credit=0 reason=
[STEP] step=0360 speed=  6.36km/h thr=0.36 brk=0.00 str=-0.45 safe=0 progress=44.0% goal=119.94m dL=0.03 ttc=4.59s tl=None credit=0 reason=
[STEP] step=0380 speed= 10.03km/h thr=0.24 brk=0.00 str=-0.20 safe=0 progress=45.0% goal=117.68m dL=0.24 ttc=4.72s tl=None credit=0 reason=
[STEP] step=0400 speed= 16.12km/h thr=0.42 brk=0.00 str=-0.04 safe=0 progress=46.7% goal=114.04m dL=0.15 ttc=2.43s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.61km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=48.9% goal=109.51m dL=0.05 ttc=1.71s tl=None credit=0 reason=
[STEP] step=0440 speed= 15.98km/h thr=0.22 brk=0.00 str=+0.04 safe=0 progress=51.0% goal=104.95m dL=0.01 ttc=8.03s tl=None credit=0 reason=
[STEP] step=0460 speed= 16.07km/h thr=0.21 brk=0.00 str=+0.06 safe=0 progress=53.1% goal=100.49m dL=0.02 ttc=9.46s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.41km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=55.2% goal=95.99m dL=0.01 ttc=9.02s tl=Yellow credit=0 reason=
[STEP] step=0500 speed= 15.97km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=57.2% goal=91.54m dL=0.01 ttc=8.86s tl=Yellow credit=0 reason=
[STEP] step=0520 speed= 16.35km/h thr=0.23 brk=0.00 str=+0.04 safe=0 progress=59.4% goal=87.03m dL=0.00 ttc=8.84s tl=None credit=0 reason=
[STEP] step=0540 speed= 10.38km/h thr=0.00 brk=0.12 str=-0.13 safe=0 progress=61.1% goal=83.20m dL=0.33 ttc=23.54s tl=None credit=0 reason=
[STEP] step=0560 speed=  6.45km/h thr=0.13 brk=0.00 str=+0.36 safe=0 progress=62.1% goal=81.06m dL=0.53 ttc=21.06s tl=None credit=0 reason=
[STEP] step=0580 speed=  6.49km/h thr=0.04 brk=0.00 str=+0.14 safe=0 progress=62.9% goal=79.39m dL=0.29 ttc=6.79s tl=None credit=0 reason=
[STEP] step=0600 speed=  6.24km/h thr=0.14 brk=0.00 str=+0.19 safe=0 progress=63.7% goal=77.70m dL=0.08 ttc=2.44s tl=None credit=0 reason=
[STEP] step=0620 speed=  6.32km/h thr=0.15 brk=0.00 str=+0.54 safe=0 progress=64.5% goal=75.99m dL=0.05 ttc=1.76s tl=None credit=0 reason=
[STEP] step=0640 speed=  6.77km/h thr=0.33 brk=0.00 str=+0.48 safe=0 progress=65.4% goal=74.15m dL=0.30 ttc=2.43s tl=None credit=0 reason=
[STEP] step=0660 speed=  6.94km/h thr=0.10 brk=0.00 str=+0.25 safe=0 progress=66.4% goal=72.01m dL=0.35 ttc=1.45s tl=None credit=0 reason=
[STEP] step=0680 speed=  6.79km/h thr=0.00 brk=0.16 str=+0.17 safe=0 progress=67.3% goal=70.06m dL=0.23 ttc=6.02s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.23km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=67.3% goal=69.94m dL=0.23 ttc=333.53s tl=None credit=0 reason=
[STEP] step=0720 speed= 10.13km/h thr=0.42 brk=0.00 str=+0.06 safe=1 progress=68.0% goal=68.44m dL=0.16 ttc=7.04s tl=None credit=0 reason=
[STEP] step=0740 speed= 12.36km/h thr=0.00 brk=0.08 str=-0.03 safe=0 progress=69.6% goal=65.07m dL=0.10 ttc=4.79s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.04 safe=0 progress=70.7% goal=62.79m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed=  1.76km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=70.7% goal=62.76m dL=0.12 ttc=28.99s tl=None credit=0 reason=
[STEP] step=0800 speed= 11.30km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=71.6% goal=60.75m dL=0.06 ttc=3.86s tl=None credit=0 reason=
[STEP] step=0820 speed=  6.92km/h thr=0.00 brk=0.30 str=+0.03 safe=0 progress=73.0% goal=57.87m dL=0.03 ttc=4.81s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.13 safe=0 progress=73.1% goal=57.70m dL=0.03 ttc=18.82s tl=None credit=18 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.13 safe=0 progress=73.1% goal=57.70m dL=0.03 ttc=15.95s tl=None credit=38 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.15 safe=0 progress=73.1% goal=57.70m dL=0.03 ttc=11.94s tl=None credit=58 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.20 str=+0.17 safe=0 progress=73.1% goal=57.70m dL=0.03 ttc=10.74s tl=None credit=74 reason=
[STEP] step=0920 speed=  1.53km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=73.1% goal=57.67m dL=0.03 ttc=12.78s tl=None credit=54 reason=
[STEP] step=0940 speed= 17.23km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=74.4% goal=54.84m dL=0.02 ttc=9.85s tl=None credit=34 reason=
[STEP] step=0960 speed= 22.41km/h thr=0.39 brk=0.00 str=+0.05 safe=0 progress=76.9% goal=49.37m dL=0.56 ttc=9.01s tl=Green credit=14 reason=
[STEP] step=0980 speed= 20.07km/h thr=0.00 brk=0.32 str=+0.03 safe=0 progress=79.8% goal=43.24m dL=0.35 ttc=10.46s tl=None credit=0 reason=
[STEP] step=1000 speed=  3.48km/h thr=0.66 brk=0.00 str=+0.19 safe=0 progress=80.4% goal=42.00m dL=0.22 ttc=11.20s tl=None credit=0 reason=
[STEP] step=1020 speed=  6.88km/h thr=0.06 brk=0.00 str=-0.22 safe=0 progress=81.3% goal=39.96m dL=0.01 ttc=23.03s tl=None credit=0 reason=
[STEP] step=1040 speed=  8.04km/h thr=0.12 brk=0.00 str=-0.06 safe=0 progress=82.3% goal=37.91m dL=0.02 ttc=24.60s tl=None credit=0 reason=
[STEP] step=1060 speed=  8.00km/h thr=0.12 brk=0.00 str=-0.09 safe=0 progress=83.3% goal=35.69m dL=0.04 ttc=27.55s tl=None credit=0 reason=
[STEP] step=1080 speed=  7.97km/h thr=0.00 brk=0.06 str=-0.16 safe=0 progress=84.4% goal=33.46m dL=0.03 ttc=27.26s tl=None credit=0 reason=
[STEP] step=1100 speed=  7.87km/h thr=0.18 brk=0.00 str=-0.36 safe=0 progress=85.4% goal=31.30m dL=0.01 ttc=35.74s tl=None credit=0 reason=
[STEP] step=1120 speed=  7.87km/h thr=0.20 brk=0.00 str=-0.36 safe=0 progress=86.4% goal=29.17m dL=0.01 ttc=40.89s tl=None credit=0 reason=
[STEP] step=1140 speed=  7.44km/h thr=0.23 brk=0.00 str=-0.32 safe=0 progress=87.3% goal=27.14m dL=0.01 ttc=49.15s tl=None credit=0 reason=
[STEP] step=1160 speed=  8.34km/h thr=0.16 brk=0.00 str=-0.30 safe=0 progress=88.4% goal=24.89m dL=0.05 ttc=46.42s tl=None credit=0 reason=
[STEP] step=1180 speed= 11.86km/h thr=0.32 brk=0.00 str=-0.11 safe=0 progress=89.7% goal=22.13m dL=0.15 ttc=30.36s tl=None credit=0 reason=
[STEP] step=1200 speed= 11.19km/h thr=0.12 brk=0.00 str=-0.04 safe=0 progress=91.3% goal=18.70m dL=0.17 ttc=28.76s tl=None credit=0 reason=
[STEP] step=1220 speed= 16.00km/h thr=0.48 brk=0.00 str=+0.04 safe=0 progress=92.9% goal=15.21m dL=0.12 ttc=20.08s tl=None credit=0 reason=
[STEP] step=1230 speed= 18.09km/h thr=0.43 brk=0.00 str=+0.06 safe=0 progress=94.0% goal=12.80m dL=0.13 ttc=17.36s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=11 R=-169.14 steps=1230 success=1 progress=94.0% DS=94.02 intv=0.081 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 287 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=14.08s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=11.96s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.25km/h thr=0.36 brk=0.00 str=-0.10 safe=0 progress=23.4% goal=164.05m dL=0.00 ttc=8.46s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.04km/h thr=0.18 brk=0.00 str=+0.05 safe=0 progress=25.4% goal=159.67m dL=0.06 ttc=5.96s tl=None credit=0 reason=
[STEP] step=0100 speed= 14.02km/h thr=0.00 brk=0.21 str=+0.07 safe=0 progress=27.4% goal=155.35m dL=0.11 ttc=5.46s tl=None credit=0 reason=
[STEP] step=0120 speed= 15.99km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=29.2% goal=151.54m dL=0.02 ttc=5.37s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.36km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=31.3% goal=147.01m dL=0.07 ttc=5.42s tl=None credit=0 reason=
[STEP] step=0160 speed= 10.86km/h thr=0.00 brk=0.78 str=-0.05 safe=0 progress=33.3% goal=142.81m dL=0.08 ttc=3.64s tl=Red credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.01 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=3.48s tl=Red credit=13 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.02 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=2.32s tl=Red credit=33 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.08 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=16.23s tl=Red credit=53 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.01 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=18.08s tl=Red credit=73 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.03 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=17.49s tl=Red credit=93 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.08 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=12.87s tl=Red credit=113 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.02 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=6.01s tl=Red credit=133 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.02 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=4.86s tl=Red credit=153 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.54 str=+0.02 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=3.87s tl=Red credit=173 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.06 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=2.99s tl=Red credit=193 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.09 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=6.22s tl=Red credit=213 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.04 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=5.59s tl=Red credit=233 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.08 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=6.10s tl=Red credit=253 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.06 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=5.86s tl=Red credit=273 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.01 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=6.03s tl=Red credit=293 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.05 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=151.27s tl=Red credit=313 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.01 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=139.50s tl=Red credit=333 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.04 safe=0 progress=33.7% goal=142.02m dL=0.06 ttc=132.66s tl=Green credit=339 reason=
[STEP] step=0540 speed=  4.80km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=33.8% goal=141.80m dL=0.06 ttc=29.54s tl=Green credit=319 reason=
[STEP] step=0560 speed= 17.33km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=35.4% goal=138.23m dL=0.03 ttc=7.48s tl=None credit=299 reason=
[STEP] step=0580 speed= 14.49km/h thr=0.09 brk=0.00 str=+0.11 safe=0 progress=37.5% goal=133.78m dL=0.09 ttc=8.00s tl=None credit=279 reason=
[STEP] step=0600 speed=  9.41km/h thr=0.10 brk=0.00 str=+0.24 safe=0 progress=39.1% goal=130.49m dL=0.31 ttc=11.44s tl=None credit=259 reason=
[STEP] step=0620 speed=  2.93km/h thr=0.30 brk=0.00 str=-0.33 safe=0 progress=39.9% goal=128.72m dL=0.57 ttc=3.52s tl=None credit=239 reason=
[STEP] step=0640 speed=  5.63km/h thr=0.12 brk=0.00 str=+0.11 safe=0 progress=40.6% goal=127.26m dL=0.36 ttc=9.70s tl=None credit=219 reason=
[STEP] step=0660 speed=  5.59km/h thr=0.30 brk=0.00 str=-0.62 safe=0 progress=41.3% goal=125.79m dL=0.37 ttc=3.35s tl=None credit=199 reason=
[STEP] step=0680 speed=  6.35km/h thr=0.10 brk=0.00 str=-0.07 safe=0 progress=42.0% goal=124.21m dL=0.11 ttc=13.50s tl=None credit=179 reason=
[STEP] step=0700 speed=  6.08km/h thr=0.25 brk=0.00 str=-0.44 safe=0 progress=42.8% goal=122.56m dL=0.01 ttc=5.30s tl=None credit=159 reason=
[STEP] step=0720 speed=  6.08km/h thr=0.29 brk=0.00 str=-0.44 safe=0 progress=43.5% goal=121.00m dL=0.03 ttc=10.86s tl=None credit=139 reason=
[STEP] step=0740 speed=  7.88km/h thr=0.23 brk=0.00 str=-0.38 safe=0 progress=44.4% goal=119.15m dL=0.12 ttc=9.09s tl=None credit=119 reason=
[STEP] step=0760 speed= 12.88km/h thr=0.42 brk=0.00 str=-0.18 safe=0 progress=45.7% goal=116.33m dL=0.26 ttc=4.68s tl=None credit=99 reason=
[STEP] step=0780 speed= 16.34km/h thr=0.14 brk=0.00 str=-0.02 safe=0 progress=47.7% goal=111.99m dL=0.11 ttc=2.83s tl=None credit=79 reason=
[STEP] step=0800 speed= 16.15km/h thr=0.26 brk=0.00 str=-0.03 safe=0 progress=49.8% goal=107.52m dL=0.02 ttc=2.05s tl=None credit=59 reason=
[STEP] step=0820 speed= 16.34km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=51.9% goal=103.03m dL=0.02 ttc=2.05s tl=None credit=39 reason=
[STEP] step=0840 speed= 16.52km/h thr=0.29 brk=0.00 str=-0.00 safe=0 progress=54.0% goal=98.48m dL=0.01 ttc=9.29s tl=None credit=19 reason=
[STEP] step=0860 speed= 16.79km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=56.2% goal=93.84m dL=0.00 ttc=8.88s tl=Green credit=0 reason=
[STEP] step=0880 speed= 16.63km/h thr=0.22 brk=0.00 str=-0.06 safe=0 progress=58.3% goal=89.19m dL=0.02 ttc=9.11s tl=None credit=0 reason=
[STEP] step=0900 speed= 14.02km/h thr=0.00 brk=0.32 str=-0.21 safe=0 progress=60.4% goal=84.71m dL=0.10 ttc=8.48s tl=None credit=0 reason=
[STEP] step=0920 speed=  7.71km/h thr=0.02 brk=0.00 str=+0.29 safe=0 progress=61.8% goal=81.87m dL=0.64 ttc=7.96s tl=None credit=0 reason=
[STEP] step=0940 speed=  6.18km/h thr=0.15 brk=0.00 str=+0.44 safe=0 progress=62.6% goal=80.09m dL=0.42 ttc=4.92s tl=None credit=0 reason=
[STEP] step=0960 speed=  6.37km/h thr=0.13 brk=0.00 str=+0.47 safe=0 progress=63.4% goal=78.47m dL=0.11 ttc=5.43s tl=None credit=0 reason=
[STEP] step=0980 speed=  6.20km/h thr=0.15 brk=0.00 str=+0.51 safe=0 progress=64.2% goal=76.75m dL=0.00 ttc=4.20s tl=None credit=0 reason=
[STEP] step=1000 speed=  6.39km/h thr=0.16 brk=0.00 str=+0.60 safe=0 progress=65.0% goal=75.03m dL=0.13 ttc=9.98s tl=None credit=0 reason=
[STEP] step=1020 speed=  8.06km/h thr=0.33 brk=0.00 str=+0.43 safe=0 progress=65.9% goal=73.11m dL=0.36 ttc=7.05s tl=None credit=0 reason=
[STEP] step=1040 speed= 14.66km/h thr=0.42 brk=0.00 str=+0.15 safe=0 progress=67.3% goal=69.93m dL=0.25 ttc=3.54s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.91km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=69.5% goal=65.34m dL=0.14 ttc=2.22s tl=None credit=0 reason=
[STEP] step=1080 speed= 17.38km/h thr=0.28 brk=0.00 str=-0.02 safe=0 progress=71.7% goal=60.59m dL=0.11 ttc=1.72s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.09km/h thr=0.31 brk=0.00 str=-0.02 safe=0 progress=74.0% goal=55.64m dL=0.10 ttc=8.36s tl=None credit=0 reason=
[STEP] step=1120 speed= 17.97km/h thr=0.11 brk=0.00 str=-0.04 safe=0 progress=76.4% goal=50.63m dL=0.09 ttc=7.34s tl=Red credit=0 reason=
[STEP] step=1140 speed= 17.29km/h thr=0.11 brk=0.00 str=+0.09 safe=0 progress=78.6% goal=45.77m dL=0.12 ttc=6.82s tl=None credit=0 reason=
[STEP] step=1160 speed= 10.78km/h thr=0.00 brk=0.08 str=-0.17 safe=0 progress=80.4% goal=41.90m dL=0.25 ttc=5.72s tl=None credit=0 reason=
[STEP] step=1180 speed=  9.98km/h thr=0.19 brk=0.00 str=-0.24 safe=0 progress=81.7% goal=39.13m dL=0.17 ttc=4.57s tl=None credit=0 reason=
[STEP] step=1200 speed=  8.01km/h thr=0.12 brk=0.00 str=-0.33 safe=0 progress=82.9% goal=36.55m dL=0.14 ttc=3.77s tl=None credit=0 reason=
[STEP] step=1220 speed=  7.82km/h thr=0.14 brk=0.00 str=-0.24 safe=0 progress=84.0% goal=34.34m dL=0.06 ttc=3.21s tl=None credit=0 reason=
[STEP] step=1240 speed=  7.73km/h thr=0.16 brk=0.00 str=-0.24 safe=0 progress=85.0% goal=32.20m dL=0.05 ttc=2.62s tl=None credit=0 reason=
[STEP] step=1260 speed=  7.71km/h thr=0.16 brk=0.00 str=-0.22 safe=0 progress=86.0% goal=30.06m dL=0.04 ttc=1.81s tl=None credit=0 reason=
[STEP] step=1280 speed=  6.22km/h thr=0.06 brk=0.00 str=-0.17 safe=0 progress=86.9% goal=27.99m dL=0.03 ttc=5.29s tl=None credit=0 reason=
[STEP] step=1300 speed=  7.94km/h thr=0.13 brk=0.00 str=-0.17 safe=0 progress=87.9% goal=26.00m dL=0.02 ttc=1.33s tl=None credit=0 reason=
[STEP] step=1320 speed=  9.68km/h thr=0.30 brk=0.00 str=-0.25 safe=0 progress=88.9% goal=23.75m dL=0.14 ttc=23.92s tl=None credit=0 reason=
[STEP] step=1340 speed= 10.45km/h thr=0.18 brk=0.00 str=-0.09 safe=0 progress=90.3% goal=20.85m dL=0.12 ttc=21.09s tl=None credit=0 reason=
[STEP] step=1360 speed=  1.09km/h thr=0.00 brk=0.24 str=-0.14 safe=0 progress=91.4% goal=18.35m dL=0.07 ttc=18.49s tl=None credit=0 reason=
[STEP] step=1380 speed=  0.13km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=91.4% goal=18.35m dL=0.08 ttc=18.15s tl=None credit=0 reason=
[STEP] step=1400 speed= 12.99km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=92.4% goal=16.37m dL=0.05 ttc=11.95s tl=None credit=0 reason=
[STEP] step=1416 speed= 16.82km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=93.9% goal=12.98m dL=0.03 ttc=10.45s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=12 R=-88.48 steps=1416 success=1 progress=93.9% DS=93.94 intv=0.053 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 304 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=+0.02 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=44.33s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=168.51m dL=0.00 ttc=9.36s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.54km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=23.5% goal=163.89m dL=0.27 ttc=6.69s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.02km/h thr=0.20 brk=0.00 str=+0.14 safe=0 progress=25.6% goal=159.37m dL=0.56 ttc=5.35s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.12km/h thr=0.42 brk=0.00 str=+0.09 safe=0 progress=27.7% goal=154.91m dL=0.59 ttc=9.50s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.59km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=29.8% goal=150.39m dL=0.42 ttc=10.53s tl=None credit=0 reason=
[STEP] step=0140 speed= 15.75km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=31.9% goal=145.91m dL=0.32 ttc=10.07s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.14km/h thr=0.00 brk=0.08 str=-0.06 safe=0 progress=33.9% goal=141.50m dL=0.20 ttc=8.84s tl=Green credit=0 reason=
[STEP] step=0180 speed= 12.28km/h thr=0.06 brk=0.00 str=-0.02 safe=0 progress=35.8% goal=137.53m dL=0.15 ttc=10.22s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.03 safe=0 progress=36.8% goal=135.30m dL=0.03 ttc=13.79s tl=None credit=0 reason=
[STEP] step=0220 speed=  1.73km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=36.8% goal=135.27m dL=0.03 ttc=11.98s tl=None credit=0 reason=
[STEP] step=0240 speed= 11.70km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=37.8% goal=133.08m dL=0.00 ttc=7.92s tl=None credit=0 reason=
[STEP] step=0260 speed=  8.62km/h thr=0.00 brk=0.21 str=+0.19 safe=0 progress=39.3% goal=129.90m dL=0.47 ttc=7.63s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.04 safe=0 progress=39.7% goal=129.17m dL=0.58 ttc=8.95s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.00 safe=0 progress=39.7% goal=129.17m dL=0.58 ttc=7.96s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.01 safe=0 progress=39.7% goal=129.17m dL=0.58 ttc=4.42s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.03 safe=0 progress=39.7% goal=129.17m dL=0.58 ttc=3.93s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.00 safe=0 progress=39.7% goal=129.17m dL=0.58 ttc=3.70s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.02 safe=0 progress=39.7% goal=129.17m dL=0.58 ttc=5.12s tl=None credit=0 reason=
[STEP] step=0400 speed=  2.40km/h thr=0.50 brk=0.00 str=-0.20 safe=0 progress=39.7% goal=129.09m dL=0.59 ttc=4.98s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.24 safe=0 progress=40.3% goal=127.81m dL=0.40 ttc=4.14s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.19 str=-0.15 safe=0 progress=40.3% goal=127.81m dL=0.40 ttc=3.82s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.15 str=-0.19 safe=0 progress=40.3% goal=127.81m dL=0.40 ttc=5.65s tl=None credit=0 reason=
[STEP] step=0480 speed=  2.42km/h thr=0.52 brk=0.00 str=-0.36 safe=0 progress=40.3% goal=127.73m dL=0.38 ttc=14.67s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.08 safe=0 progress=41.0% goal=126.39m dL=0.22 ttc=12.07s tl=None credit=0 reason=
[STEP] step=0520 speed=  5.38km/h thr=0.40 brk=0.00 str=-0.50 safe=0 progress=41.2% goal=125.94m dL=0.27 ttc=9.50s tl=None credit=0 reason=
[STEP] step=0540 speed=  6.46km/h thr=0.13 brk=0.00 str=-0.03 safe=0 progress=42.0% goal=124.28m dL=0.04 ttc=8.27s tl=None credit=0 reason=
[STEP] step=0560 speed=  6.33km/h thr=0.16 brk=0.00 str=-0.42 safe=0 progress=42.8% goal=122.57m dL=0.04 ttc=7.74s tl=None credit=0 reason=
[STEP] step=0580 speed=  1.29km/h thr=0.48 brk=0.00 str=-0.46 safe=0 progress=43.1% goal=121.79m dL=0.01 ttc=7.36s tl=None credit=0 reason=
[STEP] step=0600 speed=  3.69km/h thr=0.00 brk=0.30 str=-0.49 safe=0 progress=43.8% goal=120.42m dL=0.06 ttc=6.22s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.29 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=5.44s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.24 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=4.44s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.22 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=4.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.25 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=3.60s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.23 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=6.67s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.26 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=4.70s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.29 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=4.86s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.26 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=3.79s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.22 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=3.21s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.23 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=2.66s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.25 str=-0.19 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=2.14s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.25 str=-0.18 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=2.89s tl=None credit=0 reason=
[STEP] step=0850 speed=  0.00km/h thr=0.00 brk=0.24 str=-0.18 safe=0 progress=43.8% goal=120.40m dL=0.06 ttc=999.00s tl=None credit=0 reason=stuck
[Town02_zeroshot_source_agent] ep=13 R=80.11 steps=850 success=0 progress=43.8% DS=0.00 intv=0.058 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 315 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.07 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=32.40s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.26km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=168.51m dL=0.00 ttc=8.69s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.31km/h thr=0.36 brk=0.00 str=-0.08 safe=0 progress=23.5% goal=163.88m dL=0.13 ttc=7.66s tl=None credit=0 reason=
[STEP] step=0080 speed= 17.07km/h thr=0.12 brk=0.00 str=+0.15 safe=0 progress=25.6% goal=159.25m dL=0.46 ttc=6.15s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.66km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=27.7% goal=154.88m dL=0.15 ttc=9.57s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.64km/h thr=0.18 brk=0.00 str=-0.08 safe=0 progress=29.7% goal=150.49m dL=0.02 ttc=8.59s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.49km/h thr=0.17 brk=0.00 str=-0.05 safe=0 progress=31.8% goal=145.98m dL=0.03 ttc=7.62s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.31km/h thr=0.12 brk=0.00 str=-0.06 safe=0 progress=33.9% goal=141.50m dL=0.01 ttc=6.79s tl=Green credit=0 reason=
[STEP] step=0180 speed= 13.01km/h thr=0.20 brk=0.00 str=+0.07 safe=0 progress=35.8% goal=137.53m dL=0.02 ttc=6.12s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.53km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=37.3% goal=134.20m dL=0.02 ttc=5.44s tl=None credit=0 reason=
[STEP] step=0220 speed=  6.46km/h thr=0.36 brk=0.00 str=-0.04 safe=0 progress=38.3% goal=132.04m dL=0.24 ttc=5.02s tl=None credit=0 reason=
[STEP] step=0240 speed=  7.03km/h thr=0.12 brk=0.00 str=+0.32 safe=0 progress=39.3% goal=129.96m dL=0.44 ttc=5.73s tl=None credit=0 reason=
[STEP] step=0260 speed=  3.67km/h thr=0.42 brk=0.00 str=-0.14 safe=0 progress=39.7% goal=129.22m dL=0.59 ttc=4.11s tl=None credit=0 reason=
[STEP] step=0280 speed=  4.97km/h thr=0.24 brk=0.00 str=-0.40 safe=0 progress=40.3% goal=127.73m dL=0.41 ttc=3.99s tl=None credit=0 reason=
[STEP] step=0300 speed=  5.95km/h thr=0.19 brk=0.00 str=-0.40 safe=0 progress=41.1% goal=126.19m dL=0.35 ttc=4.04s tl=None credit=0 reason=
[STEP] step=0320 speed=  6.08km/h thr=0.12 brk=0.00 str=-0.11 safe=0 progress=41.8% goal=124.54m dL=0.12 ttc=4.90s tl=None credit=0 reason=
[STEP] step=0340 speed=  6.04km/h thr=0.12 brk=0.00 str=-0.46 safe=0 progress=42.6% goal=122.89m dL=0.03 ttc=2.91s tl=None credit=0 reason=
[STEP] step=0360 speed=  5.93km/h thr=0.24 brk=0.00 str=-0.45 safe=0 progress=43.4% goal=121.20m dL=0.00 ttc=2.38s tl=None credit=0 reason=
[STEP] step=0380 speed=  7.63km/h thr=0.17 brk=0.00 str=-0.42 safe=0 progress=44.2% goal=119.42m dL=0.09 ttc=2.84s tl=None credit=0 reason=
[STEP] step=0400 speed= 11.86km/h thr=0.42 brk=0.00 str=-0.22 safe=0 progress=45.5% goal=116.76m dL=0.26 ttc=5.31s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.77km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=47.4% goal=112.57m dL=0.15 ttc=2.91s tl=None credit=0 reason=
[STEP] step=0440 speed= 16.24km/h thr=0.22 brk=0.00 str=+0.01 safe=0 progress=49.6% goal=108.00m dL=0.08 ttc=2.17s tl=None credit=0 reason=
[STEP] step=0460 speed= 16.19km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=51.7% goal=103.50m dL=0.04 ttc=1.81s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.36km/h thr=0.21 brk=0.00 str=+0.01 safe=0 progress=53.8% goal=99.01m dL=0.04 ttc=20.37s tl=None credit=0 reason=
[STEP] step=0500 speed= 16.78km/h thr=0.26 brk=0.00 str=+0.03 safe=0 progress=55.9% goal=94.40m dL=0.05 ttc=17.70s tl=Green credit=0 reason=
[STEP] step=0520 speed= 17.65km/h thr=0.34 brk=0.00 str=+0.06 safe=0 progress=58.1% goal=89.66m dL=0.11 ttc=22.64s tl=None credit=0 reason=
[STEP] step=0540 speed= 15.56km/h thr=0.00 brk=0.33 str=-0.26 safe=0 progress=60.4% goal=84.76m dL=0.22 ttc=23.38s tl=None credit=0 reason=
[STEP] step=0560 speed=  8.11km/h thr=0.02 brk=0.00 str=+0.46 safe=0 progress=61.9% goal=81.68m dL=0.79 ttc=13.89s tl=None credit=0 reason=
[STEP] step=0580 speed=  6.19km/h thr=0.15 brk=0.00 str=+0.50 safe=0 progress=62.7% goal=79.94m dL=0.52 ttc=35.47s tl=None credit=0 reason=
[STEP] step=0600 speed=  6.15km/h thr=0.16 brk=0.00 str=+0.54 safe=0 progress=63.4% goal=78.36m dL=0.20 ttc=13.33s tl=None credit=0 reason=
[STEP] step=0620 speed=  6.23km/h thr=0.11 brk=0.00 str=+0.49 safe=0 progress=64.2% goal=76.70m dL=0.08 ttc=11.52s tl=None credit=0 reason=
[STEP] step=0640 speed=  6.09km/h thr=0.17 brk=0.00 str=+0.61 safe=0 progress=65.0% goal=75.03m dL=0.07 ttc=10.52s tl=None credit=0 reason=
[STEP] step=0660 speed=  7.92km/h thr=0.36 brk=0.00 str=+0.44 safe=0 progress=65.8% goal=73.14m dL=0.33 ttc=9.17s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.05km/h thr=0.52 brk=0.00 str=+0.09 safe=0 progress=67.4% goal=69.83m dL=0.15 ttc=7.19s tl=None credit=0 reason=
[STEP] step=0700 speed= 22.14km/h thr=0.53 brk=0.00 str=-0.04 safe=0 progress=69.8% goal=64.61m dL=0.19 ttc=6.20s tl=None credit=0 reason=
[STEP] step=0720 speed= 25.72km/h thr=0.28 brk=0.00 str=-0.05 safe=0 progress=73.1% goal=57.69m dL=0.21 ttc=6.16s tl=None credit=0 reason=
[STEP] step=0740 speed= 21.55km/h thr=0.00 brk=0.24 str=+0.05 safe=0 progress=76.2% goal=50.97m dL=0.25 ttc=7.20s tl=Red credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.11 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=7.08s tl=Red credit=14 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.15 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=6.21s tl=Red credit=34 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.15 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=5.34s tl=Red credit=54 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.13 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=5.33s tl=Red credit=74 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.14 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=5.53s tl=Red credit=94 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.16 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=11.06s tl=Red credit=114 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.80 str=+0.14 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=10.81s tl=Red credit=134 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.78 str=+0.12 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=10.55s tl=Red credit=154 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.26 str=+0.12 safe=0 progress=76.9% goal=49.55m dL=0.22 ttc=10.58s tl=Green credit=150 reason=
[STEP] step=0940 speed=  9.22km/h thr=0.53 brk=0.00 str=+0.01 safe=1 progress=77.2% goal=48.84m dL=0.16 ttc=8.48s tl=Green credit=130 reason=
[STEP] step=0960 speed= 15.14km/h thr=0.22 brk=0.00 str=+0.02 safe=0 progress=78.9% goal=45.17m dL=0.05 ttc=9.08s tl=None credit=110 reason=
[STEP] step=0980 speed=  9.31km/h thr=0.00 brk=0.07 str=-0.24 safe=0 progress=80.5% goal=41.73m dL=0.25 ttc=20.70s tl=None credit=90 reason=
[STEP] step=1000 speed=  9.27km/h thr=0.14 brk=0.00 str=-0.19 safe=0 progress=81.7% goal=39.24m dL=0.19 ttc=9.92s tl=None credit=70 reason=
[STEP] step=1020 speed=  7.66km/h thr=0.16 brk=0.00 str=-0.27 safe=0 progress=82.8% goal=36.90m dL=0.12 ttc=11.91s tl=None credit=50 reason=
[STEP] step=1040 speed=  7.92km/h thr=0.12 brk=0.00 str=-0.23 safe=0 progress=83.8% goal=34.63m dL=0.05 ttc=11.35s tl=None credit=30 reason=
[STEP] step=1060 speed=  7.79km/h thr=0.15 brk=0.00 str=-0.21 safe=0 progress=84.8% goal=32.46m dL=0.04 ttc=10.88s tl=None credit=10 reason=
[STEP] step=1080 speed=  7.70km/h thr=0.16 brk=0.00 str=-0.19 safe=0 progress=85.8% goal=30.32m dL=0.04 ttc=10.66s tl=None credit=0 reason=
[STEP] step=1100 speed=  6.77km/h thr=0.00 brk=0.06 str=-0.07 safe=0 progress=86.8% goal=28.21m dL=0.03 ttc=11.18s tl=None credit=0 reason=
[STEP] step=1120 speed=  8.20km/h thr=0.12 brk=0.00 str=-0.18 safe=0 progress=87.7% goal=26.34m dL=0.01 ttc=8.36s tl=None credit=0 reason=
[STEP] step=1140 speed=  9.25km/h thr=0.42 brk=0.00 str=-0.27 safe=0 progress=88.8% goal=24.08m dL=0.12 ttc=5.94s tl=None credit=0 reason=
[STEP] step=1160 speed= 10.72km/h thr=0.16 brk=0.00 str=-0.11 safe=0 progress=90.2% goal=21.08m dL=0.07 ttc=4.22s tl=None credit=0 reason=
[STEP] step=1180 speed=  7.52km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=91.4% goal=18.35m dL=0.03 ttc=4.87s tl=None credit=0 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.10 safe=0 progress=91.6% goal=17.95m dL=0.04 ttc=13.07s tl=None credit=0 reason=
[STEP] step=1220 speed= 11.57km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=92.2% goal=16.65m dL=0.01 ttc=2.73s tl=None credit=0 reason=
[STEP] step=1239 speed= 16.32km/h thr=0.38 brk=0.00 str=+0.03 safe=0 progress=94.0% goal=12.83m dL=0.03 ttc=2.09s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=14 R=-80.58 steps=1239 success=1 progress=94.0% DS=94.01 intv=0.061 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 330 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=23.32s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.25km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=6.77s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.95km/h thr=0.36 brk=0.00 str=+0.04 safe=0 progress=23.4% goal=163.95m dL=0.11 ttc=6.08s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.84km/h thr=0.39 brk=0.00 str=+0.03 safe=0 progress=25.5% goal=159.51m dL=0.18 ttc=5.48s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.54km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=27.6% goal=155.00m dL=0.19 ttc=4.86s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.89km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=29.7% goal=150.61m dL=0.15 ttc=4.10s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.18km/h thr=0.12 brk=0.00 str=-0.00 safe=0 progress=31.8% goal=146.09m dL=0.16 ttc=2.96s tl=None credit=0 reason=
[STEP] step=0160 speed= 11.17km/h thr=0.00 brk=0.56 str=+0.04 safe=0 progress=33.7% goal=142.06m dL=0.08 ttc=1.45s tl=Red credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.06 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=0.96s tl=Red credit=7 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.00 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=16.20s tl=Red credit=27 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.01 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=15.51s tl=Red credit=47 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.00 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=14.90s tl=Red credit=67 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.09 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=15.26s tl=Red credit=87 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.04 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=16.49s tl=Red credit=107 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.16 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=11.90s tl=Red credit=127 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.02 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=8.07s tl=Red credit=147 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.15 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=7.91s tl=Red credit=167 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.02 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=4.99s tl=Red credit=187 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.01 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=2.91s tl=Red credit=207 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.03 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=1.80s tl=Red credit=227 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.02 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=2.46s tl=Red credit=247 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.02 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=19.32s tl=Red credit=267 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.05 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=18.73s tl=Red credit=287 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.04 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=18.20s tl=Red credit=307 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.01 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=18.33s tl=Red credit=327 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.35 str=+0.01 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=20.77s tl=Red credit=347 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.33 str=+0.00 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=31.25s tl=Red credit=367 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.03 safe=0 progress=34.4% goal=140.53m dL=0.03 ttc=30.79s tl=Green credit=359 reason=
[STEP] step=0580 speed= 10.46km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=34.8% goal=139.67m dL=0.03 ttc=20.16s tl=Green credit=339 reason=
[STEP] step=0600 speed= 15.20km/h thr=0.20 brk=0.00 str=+0.03 safe=0 progress=36.6% goal=135.74m dL=0.05 ttc=14.71s tl=None credit=319 reason=
[STEP] step=0620 speed=  9.08km/h thr=0.00 brk=0.07 str=-0.04 safe=0 progress=38.2% goal=132.33m dL=0.26 ttc=13.95s tl=None credit=299 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.26 str=+0.40 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=19.06s tl=None credit=279 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=21.45s tl=None credit=259 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=31.06s tl=None credit=239 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=85.54s tl=None credit=219 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=85.08s tl=None credit=199 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=84.69s tl=None credit=179 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=999.00s tl=None credit=159 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=999.00s tl=None credit=139 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=999.00s tl=None credit=119 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=999.00s tl=None credit=99 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=999.00s tl=None credit=79 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=128.89s tl=None credit=59 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=53.76s tl=None credit=39 reason=
[STEP] step=0888 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.37 safe=0 progress=39.1% goal=130.36m dL=0.36 ttc=56.44s tl=None credit=31 reason=stuck
[Town02_zeroshot_source_agent] ep=15 R=219.74 steps=888 success=0 progress=39.1% DS=0.00 intv=0.056 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 342 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=28.82s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=9.92s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.47km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=23.4% goal=163.95m dL=0.34 ttc=10.81s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.88km/h thr=0.27 brk=0.00 str=+0.19 safe=0 progress=25.5% goal=159.48m dL=0.89 ttc=8.11s tl=None credit=0 reason=
[STEP] step=0100 speed= 11.77km/h thr=0.18 brk=0.00 str=+0.20 safe=0 progress=27.3% goal=155.64m dL=1.03 ttc=7.07s tl=None credit=0 reason=
[STEP] step=0120 speed= 11.39km/h thr=0.18 brk=0.00 str=+0.01 safe=0 progress=28.8% goal=152.44m dL=1.01 ttc=5.66s tl=None credit=0 reason=
[STEP] step=0140 speed= 11.98km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=30.3% goal=149.29m dL=0.76 ttc=5.11s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.55km/h thr=0.16 brk=0.00 str=-0.09 safe=0 progress=32.2% goal=145.17m dL=0.28 ttc=3.85s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.08 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=6.86s tl=Red credit=2 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.08 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=4.24s tl=Red credit=22 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.01 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=2.51s tl=Red credit=42 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.03 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=1.36s tl=Red credit=62 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.03 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=1.90s tl=Red credit=82 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.34 str=-0.08 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=10.79s tl=Red credit=102 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.15 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=8.02s tl=Red credit=122 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.01 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=7.20s tl=Red credit=142 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.03 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=7.21s tl=Red credit=162 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.37 str=+0.05 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=8.24s tl=Red credit=182 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.05 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=9.88s tl=Red credit=202 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.28 str=+0.05 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=8.28s tl=Red credit=222 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.04 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=6.69s tl=Red credit=242 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.12 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=5.68s tl=Red credit=262 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.59 str=+0.07 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=4.67s tl=Red credit=282 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.64 str=+0.11 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=3.66s tl=Red credit=302 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.04 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=2.66s tl=Red credit=322 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.58 str=+0.12 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=5.46s tl=Red credit=342 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.11 safe=0 progress=33.6% goal=142.14m dL=0.13 ttc=3.30s tl=Green credit=356 reason=
[STEP] step=0560 speed=  1.67km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=33.6% goal=142.11m dL=0.13 ttc=2.82s tl=Green credit=336 reason=
[STEP] step=0580 speed= 16.68km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=34.9% goal=139.31m dL=0.07 ttc=12.08s tl=Green credit=316 reason=
[STEP] step=0600 speed= 15.86km/h thr=0.17 brk=0.00 str=-0.04 safe=0 progress=37.1% goal=134.64m dL=0.06 ttc=10.89s tl=None credit=296 reason=
[STEP] step=0620 speed=  9.80km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=38.8% goal=131.09m dL=0.19 ttc=6.37s tl=None credit=276 reason=
[STEP] step=0640 speed=  5.12km/h thr=0.00 brk=0.09 str=-0.44 safe=0 progress=39.8% goal=128.86m dL=0.55 ttc=5.32s tl=None credit=256 reason=
[STEP] step=0660 speed=  6.24km/h thr=0.10 brk=0.00 str=+0.06 safe=0 progress=40.6% goal=127.26m dL=0.32 ttc=6.40s tl=None credit=236 reason=
[STEP] step=0680 speed=  6.22km/h thr=0.12 brk=0.00 str=-0.59 safe=0 progress=41.3% goal=125.71m dL=0.33 ttc=4.55s tl=None credit=216 reason=
[STEP] step=0700 speed=  6.00km/h thr=0.24 brk=0.00 str=-0.24 safe=0 progress=42.1% goal=124.05m dL=0.09 ttc=15.84s tl=None credit=196 reason=
[STEP] step=0720 speed=  6.32km/h thr=0.21 brk=0.00 str=-0.37 safe=0 progress=42.8% goal=122.40m dL=0.01 ttc=8.28s tl=None credit=176 reason=
[STEP] step=0740 speed=  6.25km/h thr=0.14 brk=0.00 str=-0.43 safe=0 progress=43.6% goal=120.68m dL=0.02 ttc=7.12s tl=None credit=156 reason=
[STEP] step=0760 speed=  7.80km/h thr=0.28 brk=0.00 str=-0.36 safe=0 progress=44.5% goal=118.80m dL=0.15 ttc=5.88s tl=None credit=136 reason=
[STEP] step=0780 speed= 13.61km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=45.9% goal=115.80m dL=0.21 ttc=6.08s tl=None credit=116 reason=
[STEP] step=0800 speed= 16.65km/h thr=0.18 brk=0.00 str=-0.00 safe=0 progress=48.0% goal=111.38m dL=0.07 ttc=8.79s tl=None credit=96 reason=
[STEP] step=0820 speed= 17.06km/h thr=0.23 brk=0.00 str=+0.03 safe=0 progress=50.2% goal=106.71m dL=0.05 ttc=12.30s tl=None credit=76 reason=
[STEP] step=0840 speed= 18.02km/h thr=0.32 brk=0.00 str=-0.02 safe=0 progress=52.4% goal=101.86m dL=0.07 ttc=13.60s tl=None credit=56 reason=
[STEP] step=0860 speed= 18.35km/h thr=0.34 brk=0.00 str=+0.04 safe=0 progress=54.8% goal=96.82m dL=0.07 ttc=11.92s tl=None credit=36 reason=
[STEP] step=0880 speed= 17.90km/h thr=0.27 brk=0.00 str=-0.04 safe=0 progress=57.1% goal=91.79m dL=0.04 ttc=9.78s tl=Green credit=16 reason=
[STEP] step=0900 speed= 18.27km/h thr=0.27 brk=0.00 str=+0.02 safe=0 progress=59.5% goal=86.76m dL=0.14 ttc=8.16s tl=None credit=0 reason=
[STEP] step=0920 speed=  6.17km/h thr=0.40 brk=0.00 str=+0.24 safe=0 progress=60.8% goal=83.94m dL=0.22 ttc=8.14s tl=None credit=0 reason=
[STEP] step=0940 speed=  6.41km/h thr=0.08 brk=0.00 str=-0.13 safe=0 progress=61.7% goal=82.00m dL=0.43 ttc=7.73s tl=None credit=0 reason=
[STEP] step=0960 speed=  6.33km/h thr=0.16 brk=0.00 str=+0.24 safe=0 progress=62.5% goal=80.29m dL=0.35 ttc=6.68s tl=None credit=0 reason=
[STEP] step=0980 speed=  6.39km/h thr=0.15 brk=0.00 str=+0.37 safe=0 progress=63.3% goal=78.62m dL=0.08 ttc=5.20s tl=None credit=0 reason=
[STEP] step=1000 speed=  6.34km/h thr=0.16 brk=0.00 str=+0.60 safe=0 progress=64.1% goal=76.92m dL=0.00 ttc=4.45s tl=None credit=0 reason=
[STEP] step=1020 speed=  6.56km/h thr=0.14 brk=0.00 str=+0.60 safe=0 progress=64.9% goal=75.18m dL=0.10 ttc=8.16s tl=None credit=0 reason=
[STEP] step=1040 speed=  7.82km/h thr=0.22 brk=0.00 str=+0.49 safe=0 progress=65.8% goal=73.30m dL=0.32 ttc=7.75s tl=None credit=0 reason=
[STEP] step=1060 speed= 14.60km/h thr=0.42 brk=0.00 str=+0.08 safe=0 progress=67.2% goal=70.18m dL=0.26 ttc=6.25s tl=None credit=0 reason=
[STEP] step=1080 speed= 15.83km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=69.3% goal=65.70m dL=0.07 ttc=5.24s tl=None credit=0 reason=
[STEP] step=1100 speed= 17.61km/h thr=0.32 brk=0.00 str=-0.06 safe=0 progress=71.4% goal=61.21m dL=0.07 ttc=3.98s tl=None credit=0 reason=
[STEP] step=1120 speed= 17.02km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=73.7% goal=56.36m dL=0.18 ttc=10.26s tl=None credit=0 reason=
[STEP] step=1140 speed= 15.43km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=75.8% goal=51.87m dL=0.20 ttc=16.03s tl=None credit=0 reason=
[STEP] step=1160 speed= 11.70km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=77.5% goal=48.07m dL=0.15 ttc=16.94s tl=Red credit=0 reason=
[STEP] step=1180 speed= 12.13km/h thr=0.00 brk=0.23 str=-0.09 safe=0 progress=79.2% goal=44.45m dL=0.18 ttc=17.07s tl=None credit=0 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.34 str=+0.16 safe=0 progress=80.1% goal=42.71m dL=0.21 ttc=69.13s tl=None credit=0 reason=
[STEP] step=1220 speed=  3.98km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=80.1% goal=42.56m dL=0.19 ttc=45.53s tl=None credit=0 reason=
[STEP] step=1240 speed=  7.83km/h thr=0.00 brk=0.27 str=-0.10 safe=0 progress=81.2% goal=40.21m dL=0.08 ttc=37.65s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.58 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=10.97s tl=None credit=0 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.56 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=10.28s tl=None credit=0 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.56 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=9.69s tl=None credit=0 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.56 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=9.16s tl=None credit=0 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.57 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=8.81s tl=None credit=0 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.56 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=9.45s tl=None credit=0 reason=
[STEP] step=1380 speed=  0.00km/h thr=0.00 brk=0.29 str=-0.45 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=11.75s tl=None credit=0 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.51 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.30 str=-0.56 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=61.03s tl=None credit=0 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.50 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=30.71s tl=None credit=0 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.50 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=29.63s tl=None credit=0 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.43 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=19.36s tl=None credit=0 reason=
[STEP] step=1494 speed=  0.00km/h thr=0.00 brk=0.25 str=-0.41 safe=0 progress=81.4% goal=39.86m dL=0.10 ttc=17.43s tl=None credit=0 reason=stuck
[Town02_zeroshot_source_agent] ep=16 R=59.00 steps=1494 success=0 progress=81.4% DS=0.00 intv=0.039 reason=stuck
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 357 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.06 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=34.33s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=15.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.92km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=23.4% goal=163.96m dL=0.11 ttc=10.54s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.62km/h thr=0.42 brk=0.00 str=+0.09 safe=0 progress=25.5% goal=159.56m dL=0.27 ttc=8.10s tl=None credit=0 reason=
[STEP] step=0100 speed= 14.36km/h thr=0.48 brk=0.00 str=-0.03 safe=0 progress=27.5% goal=155.30m dL=0.07 ttc=7.33s tl=None credit=0 reason=
[STEP] step=0120 speed= 21.44km/h thr=0.47 brk=0.00 str=-0.01 safe=0 progress=29.8% goal=150.22m dL=0.01 ttc=5.36s tl=None credit=0 reason=
[STEP] step=0140 speed= 17.06km/h thr=0.06 brk=0.00 str=-0.04 safe=0 progress=32.5% goal=144.59m dL=0.02 ttc=4.79s tl=Yellow credit=0 reason=
[STEP] step=0160 speed=  9.80km/h thr=0.00 brk=0.18 str=-0.01 safe=0 progress=34.2% goal=140.89m dL=0.05 ttc=4.98s tl=Yellow credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.12 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=6.26s tl=Yellow credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.64 str=+0.01 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=5.22s tl=Red credit=19 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.02 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=4.23s tl=Red credit=39 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.61 str=+0.02 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=3.22s tl=Red credit=59 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.61 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=2.30s tl=Red credit=79 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=6.39s tl=Red credit=99 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.01 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=3.50s tl=Red credit=119 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.01 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=2.59s tl=Red credit=139 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.39 str=+0.12 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=4.39s tl=Red credit=159 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.09 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=3.41s tl=Red credit=179 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.16 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=2.52s tl=Red credit=199 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.02 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=12.37s tl=Red credit=219 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=25.70s tl=Red credit=239 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.01 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=33.21s tl=Red credit=259 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.12 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=19.65s tl=Red credit=279 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.40 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=8.83s tl=Red credit=299 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.51 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=6.67s tl=Red credit=319 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.05 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=5.64s tl=Red credit=339 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.01 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=4.64s tl=Red credit=359 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=12.85s tl=Red credit=379 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.60 str=+0.05 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=8.04s tl=Red credit=399 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.00 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=12.83s tl=Red credit=419 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.04 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=11.83s tl=Red credit=439 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.45 str=+0.04 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=10.83s tl=Red credit=459 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=9.84s tl=Red credit=479 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.01 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=8.84s tl=Red credit=499 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=7.84s tl=Red credit=519 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.06 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=6.85s tl=Red credit=539 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.00 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=6.38s tl=Red credit=559 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.01 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=6.35s tl=Red credit=579 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.04 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=9.70s tl=Red credit=599 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.49 str=+0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.03 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=999.00s tl=Red credit=600 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.06 safe=0 progress=34.8% goal=139.71m dL=0.06 ttc=702.84s tl=Green credit=586 reason=
[STEP] step=0860 speed= 10.58km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=35.2% goal=138.72m dL=0.03 ttc=12.10s tl=None credit=566 reason=
[STEP] step=0880 speed= 14.40km/h thr=0.13 brk=0.00 str=-0.00 safe=0 progress=37.0% goal=134.93m dL=0.02 ttc=7.97s tl=None credit=546 reason=
[STEP] step=0900 speed= 10.50km/h thr=0.00 brk=0.06 str=-0.12 safe=0 progress=38.6% goal=131.45m dL=0.20 ttc=9.76s tl=None credit=526 reason=
[STEP] step=0920 speed=  7.42km/h thr=0.00 brk=0.10 str=-0.38 safe=0 progress=39.8% goal=129.01m dL=0.56 ttc=7.96s tl=None credit=506 reason=
[STEP] step=0940 speed=  6.21km/h thr=0.11 brk=0.00 str=-0.02 safe=0 progress=40.5% goal=127.37m dL=0.34 ttc=6.26s tl=None credit=486 reason=
[STEP] step=0960 speed=  6.13km/h thr=0.18 brk=0.00 str=-0.63 safe=0 progress=41.2% goal=125.82m dL=0.36 ttc=12.69s tl=None credit=466 reason=
[STEP] step=0980 speed=  5.98km/h thr=0.13 brk=0.00 str=-0.15 safe=0 progress=42.0% goal=124.16m dL=0.12 ttc=6.07s tl=None credit=446 reason=
[STEP] step=1000 speed=  6.09km/h thr=0.25 brk=0.00 str=-0.44 safe=0 progress=42.8% goal=122.52m dL=0.02 ttc=6.66s tl=None credit=426 reason=
[STEP] step=1020 speed=  6.31km/h thr=0.10 brk=0.00 str=-0.44 safe=0 progress=43.6% goal=120.80m dL=0.03 ttc=12.47s tl=None credit=406 reason=
[STEP] step=1040 speed=  8.02km/h thr=0.20 brk=0.00 str=-0.36 safe=0 progress=44.5% goal=118.90m dL=0.16 ttc=3.86s tl=None credit=386 reason=
[STEP] step=1060 speed= 13.65km/h thr=0.42 brk=0.00 str=-0.15 safe=0 progress=45.9% goal=115.90m dL=0.25 ttc=7.34s tl=None credit=366 reason=
[STEP] step=1080 speed= 18.13km/h thr=0.37 brk=0.00 str=-0.04 safe=0 progress=48.0% goal=111.36m dL=0.05 ttc=12.27s tl=None credit=346 reason=
[STEP] step=1100 speed= 18.06km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=50.3% goal=106.33m dL=0.01 ttc=20.38s tl=None credit=326 reason=
[STEP] step=1120 speed= 18.02km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=52.7% goal=101.32m dL=0.01 ttc=9.93s tl=None credit=306 reason=
[STEP] step=1140 speed= 18.03km/h thr=0.32 brk=0.00 str=-0.04 safe=0 progress=55.0% goal=96.32m dL=0.01 ttc=20.48s tl=None credit=286 reason=
[STEP] step=1160 speed= 18.07km/h thr=0.32 brk=0.00 str=+0.03 safe=0 progress=57.4% goal=91.30m dL=0.00 ttc=10.31s tl=Green credit=266 reason=
[STEP] step=1180 speed= 17.96km/h thr=0.14 brk=0.00 str=+0.02 safe=0 progress=59.7% goal=86.27m dL=0.04 ttc=5.37s tl=None credit=246 reason=
[STEP] step=1200 speed= 10.01km/h thr=0.00 brk=0.09 str=-0.00 safe=0 progress=61.5% goal=82.46m dL=0.66 ttc=14.41s tl=None credit=226 reason=
[STEP] step=1220 speed=  6.13km/h thr=0.14 brk=0.00 str=+0.33 safe=0 progress=62.5% goal=80.33m dL=0.56 ttc=6.47s tl=None credit=206 reason=
[STEP] step=1240 speed=  6.21km/h thr=0.15 brk=0.00 str=+0.40 safe=0 progress=63.2% goal=78.73m dL=0.22 ttc=5.13s tl=None credit=186 reason=
[STEP] step=1260 speed=  6.13km/h thr=0.15 brk=0.00 str=+0.55 safe=0 progress=64.0% goal=77.07m dL=0.04 ttc=3.60s tl=None credit=166 reason=
[STEP] step=1280 speed=  6.45km/h thr=0.15 brk=0.00 str=+0.57 safe=0 progress=64.8% goal=75.34m dL=0.11 ttc=2.96s tl=None credit=146 reason=
[STEP] step=1300 speed=  7.74km/h thr=0.21 brk=0.00 str=+0.45 safe=0 progress=65.7% goal=73.45m dL=0.32 ttc=2.58s tl=None credit=126 reason=
[STEP] step=1320 speed= 13.50km/h thr=0.42 brk=0.00 str=+0.15 safe=0 progress=67.1% goal=70.54m dL=0.30 ttc=3.93s tl=None credit=106 reason=
[STEP] step=1340 speed= 16.62km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=69.1% goal=66.11m dL=0.17 ttc=2.36s tl=None credit=86 reason=
[STEP] step=1360 speed= 15.96km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=71.2% goal=61.58m dL=0.11 ttc=1.86s tl=None credit=66 reason=
[STEP] step=1380 speed= 16.14km/h thr=0.22 brk=0.00 str=-0.03 safe=0 progress=73.3% goal=57.09m dL=0.10 ttc=4.22s tl=None credit=46 reason=
[STEP] step=1400 speed= 17.12km/h thr=0.31 brk=0.00 str=-0.01 safe=0 progress=75.5% goal=52.50m dL=0.11 ttc=2.22s tl=None credit=26 reason=
[STEP] step=1420 speed= 10.45km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=77.4% goal=48.37m dL=0.04 ttc=1.50s tl=Red credit=6 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.05 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=2.93s tl=Red credit=7 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.02 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=2.32s tl=Red credit=27 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.45 str=-0.00 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.31s tl=Red credit=47 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.06 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.07s tl=Red credit=67 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.11 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.09s tl=Red credit=87 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.05 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.27s tl=Red credit=107 reason=
[STEP] step=1560 speed=  0.00km/h thr=0.00 brk=0.50 str=+0.01 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.74s tl=Red credit=127 reason=
[STEP] step=1580 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.00 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.91s tl=Red credit=147 reason=
[STEP] step=1600 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.03 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=2.54s tl=Red credit=167 reason=
[STEP] step=1620 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.04 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=0.86s tl=Red credit=187 reason=
[STEP] step=1640 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.07 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=6.02s tl=Red credit=207 reason=
[STEP] step=1660 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.01 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.42s tl=Red credit=227 reason=
[STEP] step=1680 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.02 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=5.45s tl=Red credit=247 reason=
[STEP] step=1700 speed=  0.00km/h thr=0.00 brk=0.46 str=+0.05 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=9.27s tl=Red credit=267 reason=
[STEP] step=1720 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.02 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=16.57s tl=Red credit=287 reason=
[STEP] step=1740 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.03 safe=0 progress=78.2% goal=46.78m dL=0.10 ttc=24.13s tl=Green credit=291 reason=
[STEP] step=1760 speed=  5.75km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=78.3% goal=46.49m dL=0.08 ttc=26.78s tl=Green credit=271 reason=
[STEP] step=1780 speed= 14.31km/h thr=0.12 brk=0.00 str=+0.11 safe=0 progress=79.8% goal=43.33m dL=0.22 ttc=18.18s tl=None credit=251 reason=
[STEP] step=1800 speed= 10.35km/h thr=0.16 brk=0.00 str=-0.11 safe=0 progress=81.3% goal=40.09m dL=0.28 ttc=20.78s tl=None credit=231 reason=
[STEP] step=1820 speed= 10.09km/h thr=0.18 brk=0.00 str=-0.16 safe=0 progress=82.6% goal=37.29m dL=0.37 ttc=8.61s tl=None credit=211 reason=
[STEP] step=1840 speed=  7.79km/h thr=0.18 brk=0.00 str=-0.34 safe=0 progress=83.7% goal=34.87m dL=0.34 ttc=5.65s tl=None credit=191 reason=
[STEP] step=1860 speed=  8.74km/h thr=0.00 brk=0.05 str=-0.12 safe=0 progress=84.8% goal=32.59m dL=0.15 ttc=4.59s tl=None credit=171 reason=
[STEP] step=1880 speed=  7.95km/h thr=0.13 brk=0.00 str=-0.11 safe=0 progress=85.8% goal=30.44m dL=0.08 ttc=3.81s tl=None credit=151 reason=
[STEP] step=1900 speed=  7.77km/h thr=0.20 brk=0.00 str=-0.00 safe=0 progress=86.8% goal=28.27m dL=0.05 ttc=2.90s tl=None credit=131 reason=
[STEP] step=1920 speed=  8.15km/h thr=0.17 brk=0.00 str=-0.18 safe=0 progress=87.8% goal=26.09m dL=0.01 ttc=3.44s tl=None credit=111 reason=
[STEP] step=1940 speed= 10.17km/h thr=0.38 brk=0.00 str=-0.24 safe=0 progress=88.9% goal=23.73m dL=0.10 ttc=5.21s tl=None credit=91 reason=
[STEP] step=1960 speed= 11.88km/h thr=0.11 brk=0.00 str=-0.18 safe=0 progress=90.4% goal=20.52m dL=0.11 ttc=3.60s tl=None credit=71 reason=
[STEP] step=1980 speed=  8.88km/h thr=0.00 brk=0.32 str=-0.20 safe=0 progress=91.8% goal=17.50m dL=0.29 ttc=3.80s tl=None credit=51 reason=
[STEP] step=2000 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.17 safe=0 progress=92.2% goal=16.80m dL=0.25 ttc=16.19s tl=None credit=31 reason=
[STEP] step=2020 speed= 10.06km/h thr=0.47 brk=0.00 str=-0.07 safe=1 progress=92.5% goal=15.96m dL=0.18 ttc=2.90s tl=None credit=11 reason=
[STEP] step=2037 speed= 16.11km/h thr=0.42 brk=0.00 str=+0.05 safe=0 progress=94.0% goal=12.79m dL=0.09 ttc=2.27s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=17 R=107.06 steps=2037 success=1 progress=94.0% DS=94.03 intv=0.049 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 370 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=13 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=41.70s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=15.54s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.33km/h thr=0.15 brk=0.00 str=+0.03 safe=0 progress=23.5% goal=163.76m dL=0.12 ttc=14.47s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.92km/h thr=0.31 brk=0.00 str=-0.06 safe=0 progress=25.6% goal=159.27m dL=0.32 ttc=11.33s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.00km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=27.7% goal=154.82m dL=0.20 ttc=11.43s tl=None credit=0 reason=
[STEP] step=0120 speed= 11.58km/h thr=0.00 brk=0.17 str=+0.02 safe=0 progress=29.6% goal=150.67m dL=0.06 ttc=10.70s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.14 safe=0 progress=30.4% goal=148.99m dL=0.04 ttc=19.83s tl=None credit=0 reason=
[STEP] step=0160 speed=  3.23km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=30.5% goal=148.89m dL=0.04 ttc=19.90s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.57km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=32.0% goal=145.63m dL=0.01 ttc=20.38s tl=None credit=0 reason=
[STEP] step=0200 speed=  7.02km/h thr=0.00 brk=0.54 str=-0.16 safe=0 progress=33.7% goal=141.95m dL=0.02 ttc=23.02s tl=Red credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=19.54s tl=Red credit=19 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=15.77s tl=Red credit=39 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=16.60s tl=Red credit=59 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=19.59s tl=Red credit=79 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=23.87s tl=Red credit=99 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=20.76s tl=Red credit=119 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=14.89s tl=Red credit=139 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.15 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=12.31s tl=Red credit=159 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.05 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=10.77s tl=Red credit=179 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.20 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=5.67s tl=Red credit=199 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=5.39s tl=Red credit=219 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.41 str=+0.05 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=5.53s tl=Red credit=239 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.02 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=5.91s tl=Red credit=259 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.01 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=6.29s tl=Red credit=279 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.01 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=6.32s tl=Red credit=299 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.55 str=+0.06 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=6.37s tl=Red credit=319 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.52 str=+0.02 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=82.56s tl=Red credit=339 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.16 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=999.00s tl=Red credit=359 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.24 safe=0 progress=33.7% goal=141.87m dL=0.01 ttc=96.53s tl=Green credit=365 reason=
[STEP] step=0600 speed=  4.83km/h thr=0.75 brk=0.00 str=-0.00 safe=1 progress=33.8% goal=141.65m dL=0.01 ttc=13.80s tl=Green credit=345 reason=
[STEP] step=0620 speed= 17.17km/h thr=0.18 brk=0.00 str=+0.11 safe=0 progress=35.5% goal=138.10m dL=0.03 ttc=7.86s tl=None credit=325 reason=
[STEP] step=0640 speed= 11.51km/h thr=0.00 brk=0.22 str=-0.08 safe=0 progress=37.4% goal=134.07m dL=0.14 ttc=10.37s tl=None credit=305 reason=
[STEP] step=0660 speed=  6.24km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=38.5% goal=131.78m dL=0.32 ttc=11.62s tl=None credit=285 reason=
[STEP] step=0680 speed=  4.16km/h thr=0.24 brk=0.00 str=+0.40 safe=0 progress=39.3% goal=129.99m dL=0.46 ttc=19.44s tl=None credit=265 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.32 safe=0 progress=39.8% goal=128.89m dL=0.62 ttc=13.68s tl=None credit=245 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.34 safe=0 progress=39.8% goal=128.89m dL=0.62 ttc=12.50s tl=None credit=225 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.30 safe=0 progress=39.8% goal=128.89m dL=0.62 ttc=13.34s tl=None credit=205 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.32 safe=0 progress=39.8% goal=128.89m dL=0.62 ttc=14.05s tl=None credit=185 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.17 str=-0.32 safe=0 progress=39.8% goal=128.89m dL=0.62 ttc=10.25s tl=None credit=165 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.16 str=-0.32 safe=0 progress=39.8% goal=128.89m dL=0.62 ttc=6.03s tl=None credit=145 reason=
[STEP] step=0820 speed=  5.81km/h thr=0.30 brk=0.00 str=-0.49 safe=0 progress=40.1% goal=128.34m dL=0.56 ttc=4.76s tl=None credit=125 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.32 safe=0 progress=40.5% goal=127.43m dL=0.37 ttc=4.66s tl=None credit=105 reason=
[STEP] step=0860 speed=  6.16km/h thr=0.24 brk=0.00 str=+0.09 safe=0 progress=40.8% goal=126.84m dL=0.25 ttc=4.06s tl=None credit=85 reason=
[STEP] step=0880 speed=  2.59km/h thr=0.48 brk=0.00 str=-0.30 safe=0 progress=41.1% goal=126.11m dL=0.33 ttc=8.37s tl=None credit=65 reason=
[STEP] step=0900 speed=  5.91km/h thr=0.28 brk=0.00 str=-0.30 safe=0 progress=41.8% goal=124.69m dL=0.12 ttc=4.95s tl=None credit=45 reason=
[STEP] step=0920 speed=  6.60km/h thr=0.13 brk=0.00 str=-0.48 safe=0 progress=42.5% goal=123.10m dL=0.02 ttc=2.41s tl=None credit=25 reason=
[STEP] step=0940 speed=  6.23km/h thr=0.13 brk=0.00 str=-0.23 safe=0 progress=43.3% goal=121.40m dL=0.01 ttc=1.82s tl=None credit=5 reason=
[STEP] step=0960 speed=  7.49km/h thr=0.21 brk=0.00 str=-0.42 safe=0 progress=44.1% goal=119.65m dL=0.07 ttc=8.84s tl=None credit=0 reason=
[STEP] step=0980 speed= 10.69km/h thr=0.42 brk=0.00 str=-0.17 safe=0 progress=45.3% goal=117.17m dL=0.24 ttc=5.23s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.69km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=47.1% goal=113.29m dL=0.17 ttc=2.55s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.37km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=49.2% goal=108.76m dL=0.05 ttc=1.88s tl=None credit=0 reason=
[STEP] step=1040 speed= 16.27km/h thr=0.17 brk=0.00 str=-0.04 safe=0 progress=51.3% goal=104.25m dL=0.01 ttc=3.13s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.16km/h thr=0.19 brk=0.00 str=+0.00 safe=0 progress=53.4% goal=99.77m dL=0.02 ttc=8.32s tl=None credit=0 reason=
[STEP] step=1080 speed= 16.04km/h thr=0.20 brk=0.00 str=+0.05 safe=0 progress=55.5% goal=95.29m dL=0.03 ttc=7.68s tl=Yellow credit=0 reason=
[STEP] step=1100 speed= 15.33km/h thr=0.23 brk=0.00 str=+0.03 safe=0 progress=57.5% goal=91.00m dL=0.02 ttc=7.65s tl=Yellow credit=0 reason=
[STEP] step=1120 speed= 15.40km/h thr=0.16 brk=0.00 str=+0.00 safe=0 progress=59.5% goal=86.74m dL=0.02 ttc=10.29s tl=None credit=0 reason=
[STEP] step=1140 speed=  9.94km/h thr=0.00 brk=0.09 str=-0.14 safe=0 progress=61.2% goal=83.13m dL=0.32 ttc=10.14s tl=None credit=0 reason=
[STEP] step=1160 speed=  6.39km/h thr=0.15 brk=0.00 str=+0.39 safe=0 progress=62.1% goal=81.08m dL=0.53 ttc=17.24s tl=None credit=0 reason=
[STEP] step=1180 speed=  6.58km/h thr=0.06 brk=0.00 str=+0.15 safe=0 progress=62.9% goal=79.38m dL=0.29 ttc=38.62s tl=None credit=0 reason=
[STEP] step=1200 speed=  6.20km/h thr=0.13 brk=0.00 str=+0.25 safe=0 progress=63.7% goal=77.67m dL=0.11 ttc=21.07s tl=None credit=0 reason=
[STEP] step=1220 speed=  6.15km/h thr=0.16 brk=0.00 str=+0.61 safe=0 progress=64.5% goal=76.00m dL=0.01 ttc=13.51s tl=None credit=0 reason=
[STEP] step=1240 speed=  6.42km/h thr=0.22 brk=0.00 str=+0.50 safe=0 progress=65.3% goal=74.21m dL=0.27 ttc=11.35s tl=None credit=0 reason=
[STEP] step=1260 speed=  7.13km/h thr=0.15 brk=0.00 str=+0.25 safe=0 progress=66.3% goal=72.23m dL=0.35 ttc=11.09s tl=None credit=0 reason=
[STEP] step=1280 speed=  6.73km/h thr=0.11 brk=0.00 str=+0.15 safe=0 progress=67.1% goal=70.37m dL=0.24 ttc=10.32s tl=None credit=0 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.03 safe=0 progress=67.5% goal=69.63m dL=0.21 ttc=11.67s tl=None credit=0 reason=
[STEP] step=1320 speed=  7.24km/h thr=0.42 brk=0.00 str=+0.08 safe=1 progress=67.8% goal=68.99m dL=0.18 ttc=8.26s tl=None credit=0 reason=
[STEP] step=1340 speed= 12.57km/h thr=0.20 brk=0.00 str=+0.03 safe=0 progress=69.2% goal=66.00m dL=0.12 ttc=2.37s tl=None credit=0 reason=
[STEP] step=1360 speed= 11.85km/h thr=0.00 brk=0.16 str=-0.02 safe=0 progress=70.8% goal=62.52m dL=0.10 ttc=1.56s tl=None credit=0 reason=
[STEP] step=1380 speed=  0.64km/h thr=0.00 brk=0.20 str=+0.05 safe=0 progress=71.9% goal=60.09m dL=0.09 ttc=1.33s tl=None credit=1 reason=
[STEP] step=1400 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=71.9% goal=60.09m dL=0.09 ttc=2.33s tl=None credit=21 reason=
[STEP] step=1420 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.04 safe=0 progress=71.9% goal=60.09m dL=0.09 ttc=5.29s tl=None credit=41 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.03 safe=0 progress=71.9% goal=60.09m dL=0.09 ttc=5.64s tl=None credit=61 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=71.9% goal=60.09m dL=0.09 ttc=999.00s tl=None credit=81 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.06 safe=0 progress=71.9% goal=60.09m dL=0.09 ttc=39.02s tl=None credit=101 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.07 safe=0 progress=71.9% goal=60.09m dL=0.09 ttc=24.16s tl=None credit=117 reason=
[STEP] step=1520 speed=  1.67km/h thr=0.75 brk=0.00 str=-0.10 safe=1 progress=72.0% goal=60.06m dL=0.09 ttc=19.43s tl=None credit=97 reason=
[STEP] step=1540 speed= 17.20km/h thr=0.42 brk=0.00 str=+0.01 safe=1 progress=73.3% goal=57.22m dL=0.04 ttc=1.98s tl=None credit=77 reason=
[STEP] step=1560 speed= 17.88km/h thr=0.21 brk=0.00 str=-0.01 safe=0 progress=75.6% goal=52.26m dL=0.08 ttc=1.76s tl=None credit=57 reason=
[STEP] step=1580 speed= 17.24km/h thr=0.25 brk=0.00 str=-0.01 safe=0 progress=77.9% goal=47.41m dL=0.11 ttc=10.52s tl=Green credit=37 reason=
[STEP] step=1600 speed= 14.59km/h thr=0.00 brk=0.17 str=-0.08 safe=0 progress=80.0% goal=42.82m dL=0.33 ttc=5.98s tl=None credit=17 reason=
[STEP] step=1620 speed= 10.93km/h thr=0.16 brk=0.00 str=-0.09 safe=0 progress=81.6% goal=39.47m dL=0.27 ttc=4.94s tl=None credit=0 reason=
[STEP] step=1640 speed=  9.31km/h thr=0.06 brk=0.00 str=-0.37 safe=0 progress=82.9% goal=36.65m dL=0.38 ttc=4.14s tl=None credit=0 reason=
[STEP] step=1660 speed=  7.85km/h thr=0.14 brk=0.00 str=-0.20 safe=0 progress=83.9% goal=34.49m dL=0.15 ttc=3.73s tl=None credit=0 reason=
[STEP] step=1680 speed=  8.04km/h thr=0.18 brk=0.00 str=-0.22 safe=0 progress=85.0% goal=32.20m dL=0.08 ttc=3.24s tl=None credit=0 reason=
[STEP] step=1700 speed=  7.80km/h thr=0.20 brk=0.00 str=-0.23 safe=0 progress=86.0% goal=30.01m dL=0.06 ttc=17.06s tl=None credit=0 reason=
[STEP] step=1720 speed=  7.78km/h thr=0.15 brk=0.00 str=-0.23 safe=0 progress=87.0% goal=27.83m dL=0.06 ttc=23.30s tl=None credit=0 reason=
[STEP] step=1740 speed=  8.20km/h thr=0.18 brk=0.00 str=-0.24 safe=0 progress=88.0% goal=25.63m dL=0.00 ttc=51.33s tl=None credit=0 reason=
[STEP] step=1760 speed= 11.08km/h thr=0.25 brk=0.00 str=-0.06 safe=0 progress=89.2% goal=23.09m dL=0.10 ttc=34.63s tl=None credit=0 reason=
[STEP] step=1780 speed= 10.50km/h thr=0.17 brk=0.00 str=-0.14 safe=0 progress=90.6% goal=20.09m dL=0.07 ttc=32.35s tl=None credit=0 reason=
[STEP] step=1800 speed= 10.92km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=91.9% goal=17.28m dL=0.13 ttc=23.02s tl=None credit=0 reason=
[STEP] step=1820 speed= 13.26km/h thr=0.40 brk=0.00 str=+0.03 safe=0 progress=93.5% goal=14.02m dL=0.09 ttc=20.73s tl=None credit=0 reason=
[STEP] step=1826 speed= 14.25km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=94.0% goal=12.86m dL=0.08 ttc=19.96s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=18 R=58.69 steps=1826 success=1 progress=94.0% DS=93.99 intv=0.068 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 385 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=8 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=62.77s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.25km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.3% goal=168.52m dL=0.00 ttc=25.45s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.58km/h thr=0.00 brk=0.20 str=-0.04 safe=0 progress=23.4% goal=164.08m dL=0.01 ttc=14.77s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.17 safe=0 progress=24.3% goal=162.10m dL=0.00 ttc=10.12s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.23km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=24.3% goal=162.01m dL=0.00 ttc=7.91s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.68km/h thr=0.30 brk=0.00 str=+0.03 safe=0 progress=25.9% goal=158.76m dL=0.01 ttc=9.68s tl=None credit=0 reason=
[STEP] step=0140 speed= 11.37km/h thr=0.00 brk=0.18 str=-0.07 safe=0 progress=27.8% goal=154.57m dL=0.02 ttc=9.06s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.20 safe=0 progress=28.5% goal=153.10m dL=0.00 ttc=8.38s tl=None credit=0 reason=
[STEP] step=0180 speed=  5.66km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=28.6% goal=152.81m dL=0.00 ttc=8.38s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.83km/h thr=0.12 brk=0.00 str=+0.00 safe=0 progress=30.4% goal=149.00m dL=0.01 ttc=10.37s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.68km/h thr=0.12 brk=0.00 str=+0.09 safe=0 progress=32.5% goal=144.49m dL=0.02 ttc=10.14s tl=Red credit=0 reason=
[STEP] step=0240 speed=  0.66km/h thr=0.00 brk=0.54 str=-0.09 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=9.04s tl=Red credit=1 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.19 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=8.39s tl=Red credit=21 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.66 str=+0.06 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=7.65s tl=Red credit=41 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.11 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=6.31s tl=Red credit=61 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.67 str=+0.03 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=5.31s tl=Red credit=81 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.61 str=+0.03 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=4.31s tl=Red credit=101 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.66 str=+0.11 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=3.31s tl=Red credit=121 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.65 str=+0.12 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=2.31s tl=Red credit=141 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.60 str=+0.07 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=4.31s tl=Red credit=161 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.59 str=+0.18 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=3.33s tl=Red credit=181 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.56 str=+0.16 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=7.31s tl=Red credit=201 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.70 str=+0.08 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=5.71s tl=Red credit=221 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.19 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=9.66s tl=Red credit=241 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.43 str=+0.06 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=28.74s tl=Red credit=261 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.47 str=+0.12 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=12.34s tl=Red credit=281 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.59 str=+0.19 safe=0 progress=34.0% goal=141.36m dL=0.01 ttc=6.48s tl=Green credit=281 reason=
[STEP] step=0560 speed=  7.53km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=34.2% goal=140.88m dL=0.00 ttc=7.39s tl=Green credit=261 reason=
[STEP] step=0580 speed= 16.70km/h thr=0.16 brk=0.00 str=+0.01 safe=0 progress=36.1% goal=136.91m dL=0.02 ttc=62.41s tl=None credit=241 reason=
[STEP] step=0600 speed= 12.76km/h thr=0.00 brk=0.09 str=+0.08 safe=0 progress=38.0% goal=132.67m dL=0.10 ttc=9.97s tl=None credit=221 reason=
[STEP] step=0620 speed=  8.45km/h thr=0.12 brk=0.00 str=+0.20 safe=0 progress=39.3% goal=129.92m dL=0.40 ttc=9.94s tl=None credit=201 reason=
[STEP] step=0640 speed=  5.09km/h thr=0.37 brk=0.00 str=-0.46 safe=0 progress=40.1% goal=128.32m dL=0.48 ttc=10.23s tl=None credit=181 reason=
[STEP] step=0660 speed=  5.94km/h thr=0.24 brk=0.00 str=-0.14 safe=0 progress=40.8% goal=126.69m dL=0.29 ttc=11.82s tl=None credit=161 reason=
[STEP] step=0680 speed=  6.39km/h thr=0.03 brk=0.00 str=-0.53 safe=0 progress=41.6% goal=125.12m dL=0.22 ttc=5.27s tl=None credit=141 reason=
[STEP] step=0700 speed=  6.08km/h thr=0.12 brk=0.00 str=-0.51 safe=0 progress=42.3% goal=123.46m dL=0.04 ttc=11.13s tl=None credit=121 reason=
[STEP] step=0720 speed=  6.00km/h thr=0.10 brk=0.00 str=-0.09 safe=0 progress=43.2% goal=121.73m dL=0.04 ttc=22.33s tl=None credit=101 reason=
[STEP] step=0740 speed=  6.41km/h thr=0.34 brk=0.00 str=-0.43 safe=0 progress=43.9% goal=120.03m dL=0.02 ttc=16.26s tl=None credit=81 reason=
[STEP] step=0760 speed= 10.30km/h thr=0.28 brk=0.00 str=-0.16 safe=0 progress=45.0% goal=117.70m dL=0.25 ttc=9.64s tl=None credit=61 reason=
[STEP] step=0780 speed= 16.45km/h thr=0.36 brk=0.00 str=-0.05 safe=0 progress=46.8% goal=113.95m dL=0.22 ttc=13.06s tl=None credit=41 reason=
[STEP] step=0800 speed= 18.73km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=49.1% goal=109.02m dL=0.07 ttc=20.82s tl=None credit=21 reason=
[STEP] step=0820 speed= 21.71km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=51.7% goal=103.36m dL=0.02 ttc=20.60s tl=None credit=1 reason=
[STEP] step=0840 speed= 22.23km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=54.6% goal=97.28m dL=0.05 ttc=19.50s tl=None credit=0 reason=
[STEP] step=0860 speed= 21.00km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=57.4% goal=91.28m dL=0.04 ttc=19.90s tl=Green credit=0 reason=
[STEP] step=0880 speed= 20.73km/h thr=0.00 brk=0.24 str=-0.21 safe=0 progress=60.2% goal=85.32m dL=0.14 ttc=18.25s tl=None credit=0 reason=
[STEP] step=0900 speed=  4.80km/h thr=0.42 brk=0.00 str=+0.38 safe=0 progress=60.9% goal=83.71m dL=0.36 ttc=27.61s tl=None credit=0 reason=
[STEP] step=0920 speed=  5.77km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=61.7% goal=81.92m dL=0.54 ttc=24.66s tl=None credit=0 reason=
[STEP] step=0940 speed=  6.13km/h thr=0.12 brk=0.00 str=+0.28 safe=0 progress=62.5% goal=80.23m dL=0.42 ttc=20.39s tl=None credit=0 reason=
[STEP] step=0960 speed=  6.06km/h thr=0.18 brk=0.00 str=+0.46 safe=0 progress=63.3% goal=78.64m dL=0.16 ttc=18.99s tl=None credit=0 reason=
[STEP] step=0980 speed=  6.10km/h thr=0.18 brk=0.00 str=+0.53 safe=0 progress=64.0% goal=77.04m dL=0.05 ttc=17.06s tl=None credit=0 reason=
[STEP] step=1000 speed=  6.22km/h thr=0.12 brk=0.00 str=+0.58 safe=0 progress=64.8% goal=75.36m dL=0.02 ttc=16.54s tl=None credit=0 reason=
[STEP] step=1020 speed=  7.39km/h thr=0.21 brk=0.00 str=+0.50 safe=0 progress=65.6% goal=73.56m dL=0.27 ttc=15.19s tl=None credit=0 reason=
[STEP] step=1040 speed= 14.58km/h thr=0.58 brk=0.00 str=+0.10 safe=0 progress=67.0% goal=70.69m dL=0.27 ttc=11.87s tl=None credit=0 reason=
[STEP] step=1060 speed= 21.65km/h thr=0.60 brk=0.00 str=-0.03 safe=0 progress=69.4% goal=65.63m dL=0.11 ttc=9.10s tl=None credit=0 reason=
[STEP] step=1080 speed= 26.77km/h thr=0.34 brk=0.00 str=-0.02 safe=0 progress=72.7% goal=58.53m dL=0.08 ttc=8.17s tl=None credit=0 reason=
[STEP] step=1100 speed= 25.25km/h thr=0.25 brk=0.00 str=-0.05 safe=0 progress=76.1% goal=51.28m dL=0.07 ttc=6.91s tl=Red credit=0 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.48 str=+0.01 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=7.97s tl=Red credit=5 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.44 str=+0.06 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=6.54s tl=Red credit=25 reason=
[STEP] step=1160 speed=  0.00km/h thr=0.00 brk=0.28 str=+0.05 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=5.54s tl=Red credit=45 reason=
[STEP] step=1180 speed=  0.00km/h thr=0.00 brk=0.28 str=+0.07 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=5.58s tl=Red credit=65 reason=
[STEP] step=1200 speed=  0.00km/h thr=0.00 brk=0.25 str=+0.05 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=5.72s tl=Red credit=85 reason=
[STEP] step=1220 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.08 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=6.85s tl=Red credit=105 reason=
[STEP] step=1240 speed=  0.00km/h thr=0.00 brk=0.26 str=+0.05 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=6.57s tl=Red credit=125 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.23 str=+0.12 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=16.17s tl=Red credit=145 reason=
[STEP] step=1280 speed=  0.00km/h thr=0.00 brk=0.31 str=+0.11 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=7.01s tl=Red credit=165 reason=
[STEP] step=1300 speed=  0.00km/h thr=0.00 brk=0.19 str=+0.17 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=20.70s tl=Red credit=185 reason=
[STEP] step=1320 speed=  0.00km/h thr=0.00 brk=0.21 str=+0.22 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=14.72s tl=Red credit=205 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.25 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=9.68s tl=Red credit=225 reason=
[STEP] step=1360 speed=  0.00km/h thr=0.00 brk=0.22 str=+0.20 safe=0 progress=78.0% goal=47.11m dL=0.14 ttc=999.00s tl=Red credit=245 reason=
[STEP] step=1380 speed=  4.03km/h thr=0.78 brk=0.00 str=+0.01 safe=0 progress=78.1% goal=46.93m dL=0.13 ttc=79.30s tl=Red credit=255 reason=
[STEP] step=1400 speed= 17.51km/h thr=0.23 brk=0.00 str=+0.16 safe=0 progress=79.7% goal=43.46m dL=0.47 ttc=17.61s tl=None credit=235 reason=
[STEP] step=1420 speed= 11.18km/h thr=0.00 brk=0.33 str=-0.22 safe=0 progress=81.7% goal=39.09m dL=0.32 ttc=17.01s tl=None credit=215 reason=
[STEP] step=1440 speed=  0.00km/h thr=0.00 brk=0.20 str=-0.45 safe=0 progress=82.5% goal=37.49m dL=0.10 ttc=999.00s tl=None credit=195 reason=
[STEP] step=1460 speed=  0.00km/h thr=0.00 brk=0.25 str=-0.42 safe=0 progress=82.5% goal=37.49m dL=0.10 ttc=36.53s tl=None credit=175 reason=
[STEP] step=1480 speed=  0.00km/h thr=0.00 brk=0.26 str=-0.40 safe=0 progress=82.5% goal=37.49m dL=0.10 ttc=20.08s tl=None credit=155 reason=
[STEP] step=1500 speed=  0.00km/h thr=0.00 brk=0.23 str=-0.45 safe=0 progress=82.5% goal=37.49m dL=0.10 ttc=23.97s tl=None credit=135 reason=
[STEP] step=1520 speed=  0.00km/h thr=0.00 brk=0.27 str=-0.43 safe=0 progress=82.5% goal=37.49m dL=0.10 ttc=13.75s tl=None credit=115 reason=
[STEP] step=1540 speed=  0.00km/h thr=0.00 brk=0.22 str=-0.45 safe=0 progress=82.5% goal=37.49m dL=0.10 ttc=11.00s tl=None credit=95 reason=
[STEP] step=1560 speed=  0.17km/h thr=0.30 brk=0.00 str=-0.45 safe=0 progress=82.5% goal=37.49m dL=0.10 ttc=8.20s tl=None credit=75 reason=
[STEP] step=1580 speed=  8.06km/h thr=0.15 brk=0.00 str=-0.37 safe=0 progress=83.1% goal=36.26m dL=0.11 ttc=12.96s tl=None credit=55 reason=
[STEP] step=1600 speed=  7.41km/h thr=0.26 brk=0.00 str=-0.31 safe=0 progress=84.0% goal=34.27m dL=0.04 ttc=19.57s tl=None credit=35 reason=
[STEP] step=1620 speed=  7.06km/h thr=0.30 brk=0.00 str=-0.28 safe=0 progress=85.0% goal=32.20m dL=0.03 ttc=28.89s tl=None credit=15 reason=
[STEP] step=1640 speed=  7.29km/h thr=0.22 brk=0.00 str=-0.24 safe=0 progress=85.9% goal=30.09m dL=0.07 ttc=33.59s tl=None credit=0 reason=
[STEP] step=1660 speed=  7.59km/h thr=0.17 brk=0.00 str=-0.18 safe=0 progress=87.0% goal=27.94m dL=0.07 ttc=43.26s tl=None credit=0 reason=
[STEP] step=1680 speed=  8.52km/h thr=0.17 brk=0.00 str=-0.24 safe=0 progress=88.0% goal=25.73m dL=0.03 ttc=54.06s tl=None credit=0 reason=
[STEP] step=1700 speed= 10.96km/h thr=0.33 brk=0.00 str=-0.08 safe=0 progress=89.2% goal=23.21m dL=0.09 ttc=39.86s tl=None credit=0 reason=
[STEP] step=1720 speed= 14.34km/h thr=0.34 brk=0.00 str=-0.13 safe=0 progress=90.8% goal=19.70m dL=0.04 ttc=28.89s tl=None credit=0 reason=
[STEP] step=1740 speed= 20.82km/h thr=0.74 brk=0.00 str=-0.01 safe=0 progress=93.0% goal=14.91m dL=0.09 ttc=19.07s tl=None credit=0 reason=
[STEP] step=1747 speed= 24.79km/h thr=0.71 brk=0.00 str=+0.07 safe=0 progress=94.1% goal=12.68m dL=0.22 ttc=15.70s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=19 R=75.57 steps=1747 success=1 progress=94.1% DS=94.08 intv=0.057 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 395 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town02; using local lane-follow route fallback
[WARN] relaxing reset alignment for local fallback route: progress=20.44% dL=0.00m
[RESET] town=Town02 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=214.1m spawn=(-7.4,142.2,0.1) yaw=90.1 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.47km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=20.4% goal=170.36m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=20.4% goal=170.36m dL=0.00 ttc=30.57s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=21.3% goal=168.51m dL=0.00 ttc=11.20s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.25km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=23.4% goal=164.04m dL=0.03 ttc=6.27s tl=None credit=0 reason=
[STEP] step=0080 speed= 13.64km/h thr=0.00 brk=0.16 str=-0.02 safe=0 progress=25.4% goal=159.74m dL=0.01 ttc=4.89s tl=None credit=0 reason=
[STEP] step=0100 speed=  0.00km/h thr=0.00 brk=0.62 str=+0.10 safe=0 progress=26.6% goal=157.27m dL=0.02 ttc=2.21s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.94km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=26.6% goal=157.25m dL=0.02 ttc=2.56s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.90km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=27.8% goal=154.64m dL=0.01 ttc=6.81s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.18km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=30.0% goal=149.99m dL=0.05 ttc=6.04s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.37km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=32.0% goal=145.54m dL=0.07 ttc=5.01s tl=None credit=0 reason=
[STEP] step=0200 speed= 11.84km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=34.0% goal=141.39m dL=0.07 ttc=4.73s tl=Red credit=0 reason=
[STEP] step=0220 speed=  9.30km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=35.3% goal=138.45m dL=0.09 ttc=4.52s tl=None credit=0 reason=
[STEP] step=0240 speed=  8.89km/h thr=0.00 brk=0.16 str=+0.07 safe=0 progress=36.7% goal=135.62m dL=0.09 ttc=8.48s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.11 safe=0 progress=37.0% goal=134.88m dL=0.11 ttc=3.04s tl=None credit=0 reason=
[STEP] step=0280 speed=  8.15km/h thr=0.42 brk=0.00 str=-0.03 safe=1 progress=37.4% goal=134.10m dL=0.07 ttc=9.34s tl=None credit=0 reason=
[STEP] step=0300 speed= 11.46km/h thr=0.00 brk=0.23 str=+0.07 safe=0 progress=38.8% goal=130.98m dL=0.25 ttc=9.83s tl=None credit=0 reason=
[STEP] step=0320 speed=  2.26km/h thr=0.06 brk=0.00 str=-0.39 safe=0 progress=39.9% goal=128.65m dL=0.53 ttc=17.14s tl=None credit=0 reason=
[STEP] step=0340 speed=  6.07km/h thr=0.00 brk=0.11 str=-0.08 safe=0 progress=40.5% goal=127.33m dL=0.33 ttc=15.83s tl=None credit=0 reason=
[STEP] step=0360 speed=  5.98km/h thr=0.11 brk=0.00 str=-0.63 safe=0 progress=41.2% goal=125.81m dL=0.36 ttc=16.84s tl=None credit=0 reason=
[STEP] step=0380 speed=  5.98km/h thr=0.11 brk=0.00 str=-0.19 safe=0 progress=42.0% goal=124.12m dL=0.14 ttc=13.82s tl=None credit=0 reason=
[STEP] step=0400 speed=  6.29km/h thr=0.18 brk=0.00 str=-0.38 safe=0 progress=42.8% goal=122.46m dL=0.04 ttc=10.81s tl=None credit=0 reason=
[STEP] step=0420 speed=  6.30km/h thr=0.09 brk=0.00 str=-0.44 safe=0 progress=43.6% goal=120.73m dL=0.00 ttc=10.16s tl=None credit=0 reason=
[STEP] step=0440 speed=  8.33km/h thr=0.41 brk=0.00 str=-0.36 safe=0 progress=44.5% goal=118.79m dL=0.17 ttc=9.58s tl=None credit=0 reason=
[STEP] step=0460 speed= 14.34km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=46.0% goal=115.58m dL=0.27 ttc=8.96s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.32km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=48.2% goal=111.00m dL=0.14 ttc=8.50s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.93km/h thr=0.30 brk=0.00 str=-0.02 safe=0 progress=50.5% goal=106.09m dL=0.06 ttc=8.44s tl=None credit=0 reason=
[STEP] step=0520 speed= 18.19km/h thr=0.32 brk=0.00 str=-0.02 safe=0 progress=52.8% goal=101.07m dL=0.03 ttc=8.72s tl=None credit=0 reason=
[STEP] step=0540 speed= 18.52km/h thr=0.34 brk=0.00 str=+0.03 safe=0 progress=55.2% goal=96.00m dL=0.02 ttc=9.92s tl=Red credit=0 reason=
[STEP] step=0560 speed= 15.96km/h thr=0.29 brk=0.00 str=+0.04 safe=0 progress=57.4% goal=91.23m dL=0.03 ttc=9.95s tl=Red credit=0 reason=
[STEP] step=0580 speed= 17.99km/h thr=0.20 brk=0.00 str=+0.05 safe=0 progress=59.6% goal=86.49m dL=0.07 ttc=11.67s tl=None credit=0 reason=
[STEP] step=0600 speed=  9.83km/h thr=0.00 brk=0.10 str=-0.21 safe=0 progress=61.4% goal=82.67m dL=0.60 ttc=12.50s tl=None credit=0 reason=
[STEP] step=0620 speed=  5.77km/h thr=0.29 brk=0.00 str=+0.35 safe=0 progress=62.2% goal=80.88m dL=0.58 ttc=12.78s tl=None credit=0 reason=
[STEP] step=0640 speed=  6.36km/h thr=0.00 brk=0.05 str=+0.13 safe=0 progress=63.0% goal=79.25m dL=0.30 ttc=9.86s tl=None credit=0 reason=
[STEP] step=0660 speed=  6.01km/h thr=0.10 brk=0.00 str=+0.29 safe=0 progress=63.8% goal=77.59m dL=0.13 ttc=8.80s tl=None credit=0 reason=
[STEP] step=0680 speed=  6.11km/h thr=0.13 brk=0.00 str=+0.62 safe=0 progress=64.5% goal=75.92m dL=0.01 ttc=9.25s tl=None credit=0 reason=
[STEP] step=0700 speed=  7.10km/h thr=0.31 brk=0.00 str=+0.48 safe=0 progress=65.4% goal=74.10m dL=0.27 ttc=14.61s tl=None credit=0 reason=
[STEP] step=0720 speed= 14.23km/h thr=0.72 brk=0.00 str=+0.19 safe=0 progress=66.7% goal=71.29m dL=0.27 ttc=12.05s tl=None credit=0 reason=
[STEP] step=0740 speed= 19.30km/h thr=0.61 brk=0.00 str=+0.10 safe=0 progress=69.0% goal=66.36m dL=0.17 ttc=6.67s tl=None credit=0 reason=
[STEP] step=0760 speed= 25.47km/h thr=0.48 brk=0.00 str=+0.02 safe=0 progress=72.0% goal=59.97m dL=0.24 ttc=10.54s tl=None credit=0 reason=
[STEP] step=0780 speed= 26.91km/h thr=0.43 brk=0.00 str=-0.06 safe=0 progress=75.4% goal=52.64m dL=0.25 ttc=10.11s tl=None credit=0 reason=
[STEP] step=0800 speed= 25.74km/h thr=0.09 brk=0.00 str=+0.10 safe=0 progress=78.9% goal=45.21m dL=0.04 ttc=9.92s tl=None credit=0 reason=
[STEP] step=0820 speed=  2.85km/h thr=0.24 brk=0.00 str=-0.60 safe=0 progress=81.0% goal=40.73m dL=0.72 ttc=17.04s tl=None credit=0 reason=
[STEP] step=0840 speed=  9.06km/h thr=0.29 brk=0.00 str=-0.36 safe=0 progress=81.8% goal=38.99m dL=0.42 ttc=12.73s tl=None credit=0 reason=
[STEP] step=0860 speed= 10.21km/h thr=0.05 brk=0.00 str=+0.07 safe=0 progress=83.1% goal=36.20m dL=0.24 ttc=18.11s tl=None credit=0 reason=
[STEP] step=0880 speed=  8.14km/h thr=0.21 brk=0.00 str=-0.30 safe=0 progress=84.2% goal=33.84m dL=0.14 ttc=22.50s tl=None credit=0 reason=
[STEP] step=0900 speed=  8.19km/h thr=0.15 brk=0.00 str=-0.30 safe=0 progress=85.3% goal=31.56m dL=0.06 ttc=21.61s tl=None credit=0 reason=
[STEP] step=0920 speed=  7.94km/h thr=0.18 brk=0.00 str=-0.29 safe=0 progress=86.3% goal=29.34m dL=0.01 ttc=19.60s tl=None credit=0 reason=
[STEP] step=0940 speed=  7.95km/h thr=0.15 brk=0.00 str=-0.28 safe=0 progress=87.3% goal=27.15m dL=0.02 ttc=16.34s tl=None credit=0 reason=
[STEP] step=0960 speed=  7.88km/h thr=0.15 brk=0.00 str=-0.18 safe=0 progress=88.3% goal=24.97m dL=0.08 ttc=13.08s tl=None credit=0 reason=
[STEP] step=0980 speed= 12.79km/h thr=0.29 brk=0.00 str=-0.08 safe=0 progress=89.6% goal=22.17m dL=0.13 ttc=6.81s tl=None credit=0 reason=
[STEP] step=1000 speed= 14.17km/h thr=0.48 brk=0.00 str=-0.22 safe=0 progress=91.4% goal=18.41m dL=0.10 ttc=7.70s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.33km/h thr=0.38 brk=0.00 str=-0.04 safe=0 progress=93.6% goal=13.72m dL=0.06 ttc=8.45s tl=None credit=0 reason=
[STEP] step=1023 speed= 18.42km/h thr=0.44 brk=0.00 str=-0.09 safe=0 progress=94.0% goal=12.95m dL=0.05 ttc=8.99s tl=None credit=0 reason=goal
[Town02_zeroshot_source_agent] ep=20 R=-202.18 steps=1023 success=1 progress=94.0% DS=93.95 intv=0.073 reason=goal
[Town02_zeroshot_source_agent] avgR=-1.17 SR=75.0% avgDS=70.50 avgIS=0.750 intv=0.062 coll/km=0.3733 off/km=0.0000 to/km=1.4934
==========================================================================================
Final summary for Town02: SR=75.0% DS=70.50 IS=0.750 coll/km=0.3733 off/km=0.0000 to/km=1.4934
Episodes CSV: /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town02_zeroshot_source_agent.csv
Summary CSV : /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town02_zeroshot_source_agent_summary.csv
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 407 (sensor.other.collision) 
