Mode: eval
Device: cpu
GlobalRoutePlanner available: True
Python: 3.10.19
Source town: Town10HD_Opt | goal=40 | NPC=[8, 20]
Target town: Town05 | 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: False
Output dir: /home/umb/Desktop/car2/culrt_carla_0915_aligned
Auto-selected route target length: 200m ± 12m
Train steps: 500000 | Adapt steps cap: 50000 | Adapt episodes: 100
Checkpoint: /home/umb/Desktop/car2/culrt_carla_0915_aligned/models/source_agent.pt
Episodes: 20
[OK] Loaded checkpoint.
==========================================================================================
Evaluating on Town05 | goal=auto | weather=mixed
[OK] Connected to CARLA | host=localhost port=2200 town=Town05 sync=True dt=0.050s weather=mixed fixed_goal_index=-1
Resolved target env town: Town05
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=66.00s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=26.22s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.22km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.9% goal=210.07m dL=0.05 ttc=24.04s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.23 safe=0 progress=3.7% goal=208.34m dL=0.07 ttc=12.10s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.03km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=3.8% goal=208.19m dL=0.07 ttc=13.44s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.77km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=5.3% goal=204.74m dL=0.01 ttc=30.85s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.52km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=7.2% goal=200.68m dL=0.02 ttc=37.61s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.11 safe=0 progress=7.7% goal=199.54m dL=0.02 ttc=21.74s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.51km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=8.0% goal=199.07m dL=0.02 ttc=69.01s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.21km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=9.9% goal=194.98m dL=0.03 ttc=94.92s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.65km/h thr=0.00 brk=0.38 str=-0.04 safe=0 progress=11.5% goal=191.42m dL=0.03 ttc=64.28s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.11 safe=0 progress=11.8% goal=190.83m dL=0.02 ttc=34.59s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.13km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=12.2% goal=189.84m dL=0.02 ttc=116.54s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.43km/h thr=0.00 brk=0.23 str=-0.03 safe=0 progress=14.3% goal=185.37m dL=0.03 ttc=132.06s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.34km/h thr=0.00 brk=0.39 str=-0.07 safe=0 progress=15.7% goal=182.25m dL=0.02 ttc=78.37s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.11 safe=0 progress=15.9% goal=182.02m dL=0.02 ttc=45.90s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.02km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=16.6% goal=180.48m dL=0.01 ttc=208.77s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.22km/h thr=0.00 brk=0.22 str=+0.00 safe=0 progress=18.7% goal=175.89m dL=0.02 ttc=197.01s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.02km/h thr=0.00 brk=0.41 str=-0.08 safe=0 progress=19.9% goal=173.16m dL=0.01 ttc=44.85s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.22km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=19.9% goal=173.15m dL=0.01 ttc=45.41s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.54km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.1% goal=170.77m dL=0.01 ttc=400.55s tl=None credit=0 reason=
[STEP] step=0440 speed= 12.69km/h thr=0.00 brk=0.19 str=-0.00 safe=0 progress=23.1% goal=166.29m dL=0.02 ttc=95.18s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.11 safe=0 progress=24.0% goal=164.29m dL=0.01 ttc=32.60s tl=None credit=0 reason=
[STEP] step=0480 speed=  3.32km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=24.1% goal=164.19m dL=0.01 ttc=33.08s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.71km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=25.6% goal=160.93m dL=0.01 ttc=64.46s tl=None credit=0 reason=
[STEP] step=0520 speed= 11.31km/h thr=0.00 brk=0.20 str=-0.04 safe=0 progress=27.5% goal=156.74m dL=0.01 ttc=39.89s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.13 safe=0 progress=28.2% goal=155.24m dL=0.00 ttc=23.85s tl=None credit=0 reason=
[STEP] step=0560 speed=  5.85km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=28.4% goal=154.94m dL=0.00 ttc=27.33s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.74km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=30.1% goal=151.29m dL=0.03 ttc=33.76s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.30km/h thr=0.00 brk=0.34 str=-0.02 safe=0 progress=31.7% goal=147.79m dL=0.17 ttc=23.40s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.23 safe=0 progress=31.9% goal=147.33m dL=0.18 ttc=17.57s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.09km/h thr=0.66 brk=0.00 str=-0.03 safe=1 progress=32.4% goal=146.17m dL=0.11 ttc=20.59s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.51km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=34.3% goal=142.00m dL=0.08 ttc=18.91s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.14 safe=0 progress=35.4% goal=139.81m dL=0.14 ttc=13.15s tl=None credit=0 reason=
[STEP] step=0700 speed=  2.36km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.4% goal=139.75m dL=0.13 ttc=12.36s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.89km/h thr=0.36 brk=0.00 str=+0.00 safe=0 progress=36.7% goal=136.85m dL=0.01 ttc=14.52s tl=None credit=0 reason=
[STEP] step=0740 speed=  9.43km/h thr=0.00 brk=0.34 str=-0.13 safe=0 progress=38.5% goal=133.09m dL=0.15 ttc=11.58s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.17 safe=0 progress=38.8% goal=132.35m dL=0.14 ttc=8.39s tl=None credit=0 reason=
[STEP] step=0780 speed= 10.40km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=39.2% goal=131.50m dL=0.10 ttc=9.24s tl=None credit=0 reason=
[STEP] step=0800 speed= 14.56km/h thr=0.00 brk=0.24 str=-0.05 safe=0 progress=41.1% goal=127.42m dL=0.09 ttc=8.99s tl=None credit=0 reason=
[STEP] step=0820 speed= 14.80km/h thr=0.17 brk=0.00 str=+0.06 safe=0 progress=42.9% goal=123.57m dL=0.05 ttc=8.34s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.79km/h thr=0.26 brk=0.00 str=-0.21 safe=0 progress=44.7% goal=119.55m dL=0.00 ttc=7.75s tl=None credit=0 reason=
[STEP] step=0860 speed= 13.79km/h thr=0.21 brk=0.00 str=+0.00 safe=0 progress=46.5% goal=115.68m dL=0.01 ttc=7.24s tl=None credit=0 reason=
[STEP] step=0880 speed= 13.85km/h thr=0.21 brk=0.00 str=+0.02 safe=0 progress=48.3% goal=111.80m dL=0.08 ttc=7.50s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.76km/h thr=0.23 brk=0.00 str=-0.11 safe=0 progress=50.1% goal=107.97m dL=0.14 ttc=8.70s tl=None credit=0 reason=
[STEP] step=0920 speed= 13.12km/h thr=0.24 brk=0.00 str=+0.07 safe=0 progress=51.8% goal=104.21m dL=0.08 ttc=12.47s tl=None credit=0 reason=
[STEP] step=0940 speed= 13.51km/h thr=0.15 brk=0.00 str=-0.08 safe=0 progress=53.6% goal=100.41m dL=0.07 ttc=24.34s tl=None credit=0 reason=
[STEP] step=0960 speed= 12.35km/h thr=0.28 brk=0.00 str=-0.13 safe=0 progress=55.3% goal=96.76m dL=0.02 ttc=30.96s tl=None credit=0 reason=
[STEP] step=0980 speed= 14.78km/h thr=0.38 brk=0.00 str=-0.01 safe=0 progress=57.1% goal=92.83m dL=0.04 ttc=24.36s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.71km/h thr=0.35 brk=0.00 str=-0.07 safe=0 progress=59.1% goal=88.37m dL=0.07 ttc=17.42s tl=None credit=0 reason=
[STEP] step=1020 speed= 17.93km/h thr=0.33 brk=0.00 str=-0.10 safe=0 progress=61.4% goal=83.42m dL=0.15 ttc=15.39s tl=None credit=0 reason=
[STEP] step=1040 speed= 20.20km/h thr=0.47 brk=0.00 str=+0.03 safe=0 progress=63.8% goal=78.25m dL=0.21 ttc=14.23s tl=None credit=0 reason=
[STEP] step=1060 speed= 22.76km/h thr=0.38 brk=0.00 str=+0.07 safe=0 progress=66.6% goal=72.25m dL=0.24 ttc=13.21s tl=None credit=0 reason=
[STEP] step=1080 speed= 23.40km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=69.5% goal=65.88m dL=0.25 ttc=12.65s tl=None credit=0 reason=
[STEP] step=1100 speed= 24.72km/h thr=0.26 brk=0.00 str=-0.03 safe=0 progress=72.7% goal=59.11m dL=0.29 ttc=12.48s tl=None credit=0 reason=
[STEP] step=1120 speed= 24.90km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=75.8% goal=52.45m dL=0.34 ttc=12.77s tl=None credit=0 reason=
[STEP] step=1140 speed= 23.80km/h thr=0.30 brk=0.00 str=-0.03 safe=0 progress=78.9% goal=45.67m dL=0.41 ttc=14.88s tl=None credit=0 reason=
[STEP] step=1160 speed= 25.07km/h thr=0.31 brk=0.00 str=+0.04 safe=0 progress=81.9% goal=39.12m dL=0.50 ttc=18.05s tl=None credit=0 reason=
[STEP] step=1180 speed= 22.80km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=85.0% goal=32.46m dL=0.59 ttc=26.80s tl=None credit=0 reason=
[STEP] step=1200 speed= 21.61km/h thr=0.28 brk=0.00 str=+0.07 safe=0 progress=87.8% goal=26.36m dL=0.83 ttc=42.05s tl=None credit=0 reason=
[STEP] step=1220 speed= 20.55km/h thr=0.35 brk=0.00 str=-0.05 safe=0 progress=90.5% goal=20.55m dL=1.11 ttc=58.66s tl=None credit=0 reason=
[STEP] step=1240 speed= 20.46km/h thr=0.25 brk=0.00 str=+0.00 safe=0 progress=93.2% goal=14.81m dL=1.48 ttc=55.15s tl=None credit=0 reason=
[STEP] step=1247 speed= 19.54km/h thr=0.28 brk=0.00 str=-0.00 safe=0 progress=94.1% goal=12.86m dL=1.56 ttc=45.61s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=01 R=-30.24 steps=1247 success=1 progress=94.1% DS=94.05 intv=0.221 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 148 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=39.94s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=10.46s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.61km/h thr=0.42 brk=0.00 str=+0.03 safe=0 progress=3.0% goal=209.89m dL=0.37 ttc=6.48s tl=None credit=0 reason=
[STEP] step=0080 speed= 17.38km/h thr=0.26 brk=0.00 str=+0.02 safe=0 progress=5.1% goal=205.20m dL=0.23 ttc=6.00s tl=None credit=0 reason=
[STEP] step=0100 speed= 17.65km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=7.4% goal=200.34m dL=0.02 ttc=6.07s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.49km/h thr=0.26 brk=0.00 str=-0.03 safe=0 progress=9.6% goal=195.50m dL=0.01 ttc=6.60s tl=None credit=0 reason=
[STEP] step=0140 speed= 17.85km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=11.9% goal=190.54m dL=0.04 ttc=8.73s tl=None credit=0 reason=
[STEP] step=0160 speed= 17.13km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=14.1% goal=185.70m dL=0.04 ttc=16.04s tl=None credit=0 reason=
[STEP] step=0180 speed= 15.18km/h thr=0.18 brk=0.00 str=+0.02 safe=0 progress=16.3% goal=181.03m dL=0.08 ttc=547.91s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.18km/h thr=0.30 brk=0.00 str=-0.00 safe=0 progress=18.3% goal=176.63m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.83km/h thr=0.34 brk=0.00 str=-0.04 safe=0 progress=20.4% goal=172.15m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.24km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=22.5% goal=167.71m dL=0.14 ttc=116.43s tl=None credit=0 reason=
[STEP] step=0260 speed= 18.19km/h thr=0.43 brk=0.00 str=-0.02 safe=0 progress=24.7% goal=162.92m dL=0.08 ttc=135.96s tl=None credit=0 reason=
[STEP] step=0280 speed= 19.92km/h thr=0.48 brk=0.00 str=-0.00 safe=0 progress=27.1% goal=157.74m dL=0.00 ttc=103.44s tl=None credit=0 reason=
[STEP] step=0300 speed= 24.23km/h thr=0.39 brk=0.00 str=+0.01 safe=0 progress=29.9% goal=151.53m dL=0.08 ttc=96.18s tl=None credit=0 reason=
[STEP] step=0320 speed= 17.67km/h thr=0.00 brk=0.41 str=+0.01 safe=0 progress=32.8% goal=145.40m dL=0.10 ttc=60.95s tl=None credit=0 reason=
[STEP] step=0340 speed=  8.56km/h thr=0.00 brk=0.35 str=-0.15 safe=0 progress=34.4% goal=141.82m dL=0.18 ttc=37.43s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.19 safe=0 progress=34.7% goal=141.27m dL=0.18 ttc=29.38s tl=None credit=0 reason=
[STEP] step=0380 speed= 12.11km/h thr=0.66 brk=0.00 str=-0.18 safe=1 progress=35.2% goal=140.12m dL=0.09 ttc=35.72s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.61km/h thr=0.00 brk=0.31 str=-0.05 safe=0 progress=37.2% goal=135.92m dL=0.09 ttc=39.91s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=38.2% goal=133.66m dL=0.15 ttc=29.29s tl=None credit=0 reason=
[STEP] step=0440 speed=  1.68km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.2% goal=133.63m dL=0.15 ttc=32.43s tl=None credit=0 reason=
[STEP] step=0460 speed= 15.57km/h thr=0.42 brk=0.00 str=+0.18 safe=1 progress=39.5% goal=130.91m dL=0.00 ttc=66.94s tl=None credit=0 reason=
[STEP] step=0480 speed=  9.86km/h thr=0.00 brk=0.33 str=-0.05 safe=0 progress=41.3% goal=127.06m dL=0.15 ttc=41.23s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=41.7% goal=126.18m dL=0.15 ttc=25.88s tl=None credit=0 reason=
[STEP] step=0520 speed=  9.35km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.0% goal=125.48m dL=0.11 ttc=50.03s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.84km/h thr=0.00 brk=0.32 str=-0.08 safe=0 progress=43.8% goal=121.47m dL=0.11 ttc=155.56s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=45.1% goal=118.80m dL=0.15 ttc=40.16s tl=None credit=0 reason=
[STEP] step=0580 speed=  1.02km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=45.1% goal=118.79m dL=0.15 ttc=30.29s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.25km/h thr=0.42 brk=0.00 str=-0.04 safe=1 progress=46.2% goal=116.29m dL=0.03 ttc=50.20s tl=None credit=0 reason=
[STEP] step=0620 speed= 10.10km/h thr=0.00 brk=0.34 str=-0.07 safe=0 progress=48.0% goal=112.40m dL=0.16 ttc=33.60s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.19 safe=0 progress=48.5% goal=111.47m dL=0.16 ttc=20.59s tl=None credit=0 reason=
[STEP] step=0660 speed=  9.47km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.8% goal=110.76m dL=0.12 ttc=30.19s tl=None credit=0 reason=
[STEP] step=0680 speed= 14.76km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=50.6% goal=106.77m dL=0.10 ttc=45.17s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.22 safe=0 progress=51.8% goal=104.18m dL=0.16 ttc=18.85s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.94km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.8% goal=104.16m dL=0.16 ttc=17.33s tl=None credit=0 reason=
[STEP] step=0740 speed= 15.27km/h thr=0.42 brk=0.00 str=-0.15 safe=1 progress=53.0% goal=101.65m dL=0.03 ttc=28.26s tl=None credit=0 reason=
[STEP] step=0760 speed= 10.04km/h thr=0.00 brk=0.38 str=-0.08 safe=0 progress=54.8% goal=97.76m dL=0.12 ttc=20.78s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.20 safe=0 progress=55.2% goal=96.86m dL=0.14 ttc=14.14s tl=None credit=0 reason=
[STEP] step=0800 speed=  9.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.6% goal=96.14m dL=0.10 ttc=26.08s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.24km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=57.5% goal=91.99m dL=0.15 ttc=34.98s tl=None credit=0 reason=
[STEP] step=0840 speed=  4.38km/h thr=0.00 brk=0.44 str=-0.17 safe=0 progress=58.9% goal=88.85m dL=0.14 ttc=35.00s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=58.9% goal=88.82m dL=0.14 ttc=36.50s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.08km/h thr=0.44 brk=0.00 str=-0.04 safe=1 progress=59.9% goal=86.68m dL=0.03 ttc=33.79s tl=None credit=0 reason=
[STEP] step=0900 speed= 20.08km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=62.3% goal=81.60m dL=0.11 ttc=9.66s tl=None credit=0 reason=
[STEP] step=0920 speed= 22.27km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=65.0% goal=75.70m dL=0.06 ttc=8.11s tl=None credit=0 reason=
[STEP] step=0940 speed= 22.63km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=67.9% goal=69.49m dL=0.07 ttc=7.10s tl=None credit=0 reason=
[STEP] step=0960 speed= 22.60km/h thr=0.22 brk=0.00 str=-0.14 safe=0 progress=70.8% goal=63.23m dL=0.11 ttc=5.93s tl=None credit=0 reason=
[STEP] step=0980 speed= 13.57km/h thr=0.00 brk=0.16 str=-0.02 safe=0 progress=73.1% goal=58.08m dL=0.24 ttc=5.91s tl=None credit=0 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.04 safe=0 progress=74.2% goal=55.78m dL=0.21 ttc=8.11s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.88km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=74.2% goal=55.77m dL=0.21 ttc=9.00s tl=None credit=0 reason=
[STEP] step=1040 speed= 16.91km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=75.4% goal=53.15m dL=0.10 ttc=5.14s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.04km/h thr=0.41 brk=0.00 str=-0.09 safe=0 progress=77.6% goal=48.53m dL=0.08 ttc=9.63s tl=None credit=0 reason=
[STEP] step=1080 speed= 16.97km/h thr=0.32 brk=0.00 str=+0.01 safe=0 progress=79.6% goal=44.02m dL=0.07 ttc=10.32s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.28km/h thr=0.49 brk=0.00 str=+0.13 safe=0 progress=81.9% goal=39.10m dL=0.19 ttc=15.31s tl=None credit=0 reason=
[STEP] step=1120 speed= 20.28km/h thr=0.32 brk=0.00 str=-0.06 safe=0 progress=84.4% goal=33.76m dL=0.05 ttc=10.61s tl=None credit=0 reason=
[STEP] step=1140 speed= 21.47km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=87.1% goal=27.98m dL=0.15 ttc=8.74s tl=None credit=0 reason=
[STEP] step=1160 speed= 21.88km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=89.9% goal=21.92m dL=0.23 ttc=132.19s tl=None credit=0 reason=
[STEP] step=1180 speed= 24.18km/h thr=0.34 brk=0.00 str=-0.08 safe=0 progress=92.8% goal=15.59m dL=0.32 ttc=132.18s tl=None credit=0 reason=
[STEP] step=1188 speed= 24.04km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=94.0% goal=12.90m dL=0.34 ttc=173.26s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=02 R=-59.77 steps=1188 success=1 progress=94.0% DS=94.04 intv=0.210 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 159 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=52.37s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=16.57s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.60km/h thr=0.42 brk=0.00 str=+0.04 safe=0 progress=3.0% goal=209.87m dL=0.22 ttc=14.78s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.91km/h thr=0.42 brk=0.00 str=+0.06 safe=0 progress=5.0% goal=205.41m dL=0.27 ttc=12.83s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.70km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=7.1% goal=200.91m dL=0.18 ttc=11.71s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.44km/h thr=0.36 brk=0.00 str=-0.08 safe=0 progress=9.2% goal=196.49m dL=0.12 ttc=11.10s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.40km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=11.0% goal=192.52m dL=0.02 ttc=12.02s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.16 safe=0 progress=11.5% goal=191.41m dL=0.01 ttc=13.33s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.56km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=11.7% goal=190.94m dL=0.00 ttc=7.71s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.20km/h thr=0.00 brk=0.16 str=+0.01 safe=0 progress=13.6% goal=186.84m dL=0.02 ttc=4.67s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.88km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=15.7% goal=182.31m dL=0.01 ttc=3.57s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.70km/h thr=0.22 brk=0.00 str=-0.01 safe=0 progress=17.9% goal=177.64m dL=0.02 ttc=2.67s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.20km/h thr=0.24 brk=0.00 str=-0.00 safe=0 progress=20.0% goal=173.13m dL=0.04 ttc=2.46s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.02km/h thr=0.13 brk=0.00 str=+0.15 safe=0 progress=22.0% goal=168.64m dL=0.13 ttc=2.08s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.97km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=24.1% goal=164.10m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 17.19km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=26.3% goal=159.34m dL=0.21 ttc=704.86s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.42km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=28.5% goal=154.66m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 15.60km/h thr=0.14 brk=0.00 str=+0.10 safe=0 progress=30.6% goal=150.22m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.53km/h thr=0.19 brk=0.00 str=-0.08 safe=0 progress=32.4% goal=146.22m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.45km/h thr=0.20 brk=0.00 str=-0.12 safe=0 progress=34.1% goal=142.49m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.97km/h thr=0.16 brk=0.00 str=-0.00 safe=0 progress=35.9% goal=138.74m dL=0.12 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.16km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=37.6% goal=134.98m dL=0.13 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0460 speed= 12.80km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=39.3% goal=131.26m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0480 speed= 11.60km/h thr=0.00 brk=0.31 str=-0.07 safe=0 progress=41.0% goal=127.51m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.16 safe=0 progress=41.7% goal=126.02m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  5.91km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=41.9% goal=125.74m dL=0.14 ttc=112.30s tl=None credit=0 reason=
[STEP] step=0540 speed= 16.19km/h thr=0.12 brk=0.00 str=+0.04 safe=0 progress=43.5% goal=122.17m dL=0.06 ttc=51.01s tl=None credit=0 reason=
[STEP] step=0560 speed=  7.65km/h thr=0.00 brk=0.36 str=-0.14 safe=0 progress=45.1% goal=118.85m dL=0.14 ttc=34.94s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.16 safe=0 progress=45.2% goal=118.61m dL=0.14 ttc=25.27s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.46km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=45.9% goal=117.09m dL=0.04 ttc=14.93s tl=None credit=0 reason=
[STEP] step=0620 speed= 12.38km/h thr=0.00 brk=0.34 str=-0.06 safe=0 progress=47.8% goal=112.96m dL=0.12 ttc=16.51s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=48.6% goal=111.20m dL=0.16 ttc=13.44s tl=None credit=0 reason=
[STEP] step=0660 speed=  4.03km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.7% goal=111.04m dL=0.15 ttc=14.32s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.17km/h thr=0.24 brk=0.00 str=+0.09 safe=0 progress=50.2% goal=107.80m dL=0.01 ttc=15.42s tl=None credit=0 reason=
[STEP] step=0700 speed=  8.37km/h thr=0.00 brk=0.36 str=-0.11 safe=0 progress=51.8% goal=104.26m dL=0.13 ttc=15.46s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=52.0% goal=103.78m dL=0.14 ttc=19.47s tl=None credit=0 reason=
[STEP] step=0740 speed= 12.10km/h thr=0.64 brk=0.00 str=-0.03 safe=1 progress=52.6% goal=102.62m dL=0.05 ttc=14.62s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.30km/h thr=0.00 brk=0.41 str=-0.10 safe=0 progress=54.5% goal=98.48m dL=0.11 ttc=14.73s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=55.4% goal=96.46m dL=0.15 ttc=36.99s tl=None credit=0 reason=
[STEP] step=0800 speed=  3.22km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.5% goal=96.36m dL=0.14 ttc=33.13s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.62km/h thr=0.30 brk=0.00 str=+0.08 safe=0 progress=56.9% goal=93.23m dL=0.03 ttc=18.37s tl=None credit=0 reason=
[STEP] step=0840 speed=  9.22km/h thr=0.00 brk=0.42 str=-0.21 safe=0 progress=58.7% goal=89.41m dL=0.18 ttc=28.06s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.20 safe=0 progress=58.9% goal=88.80m dL=0.13 ttc=139.28s tl=None credit=0 reason=
[STEP] step=0880 speed= 11.15km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=59.4% goal=87.82m dL=0.06 ttc=16.92s tl=None credit=0 reason=
[STEP] step=0900 speed= 18.43km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=61.5% goal=83.19m dL=0.07 ttc=10.17s tl=None credit=0 reason=
[STEP] step=0920 speed= 17.63km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=63.8% goal=78.25m dL=0.04 ttc=8.59s tl=None credit=0 reason=
[STEP] step=0940 speed= 19.58km/h thr=0.55 brk=0.00 str=+0.03 safe=0 progress=66.2% goal=73.18m dL=0.17 ttc=17.56s tl=None credit=0 reason=
[STEP] step=0960 speed= 22.86km/h thr=0.51 brk=0.00 str=+0.02 safe=0 progress=68.9% goal=67.30m dL=0.37 ttc=24.62s tl=None credit=0 reason=
[STEP] step=0980 speed= 22.06km/h thr=0.00 brk=0.07 str=+0.02 safe=0 progress=71.9% goal=60.76m dL=0.46 ttc=34.60s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.43km/h thr=0.43 brk=0.00 str=+0.03 safe=0 progress=74.4% goal=55.46m dL=0.63 ttc=36.04s tl=None credit=0 reason=
[STEP] step=1020 speed= 20.94km/h thr=0.44 brk=0.00 str=-0.03 safe=0 progress=76.9% goal=49.90m dL=0.83 ttc=37.81s tl=None credit=0 reason=
[STEP] step=1040 speed= 17.09km/h thr=0.00 brk=0.28 str=+0.01 safe=0 progress=79.6% goal=44.21m dL=0.59 ttc=35.70s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.48km/h thr=0.45 brk=0.00 str=-0.07 safe=0 progress=81.5% goal=40.02m dL=0.55 ttc=21.27s tl=None credit=0 reason=
[STEP] step=1080 speed= 18.16km/h thr=0.25 brk=0.00 str=-0.03 safe=0 progress=83.8% goal=35.06m dL=0.71 ttc=18.76s tl=None credit=0 reason=
[STEP] step=1100 speed= 17.92km/h thr=0.23 brk=0.00 str=-0.05 safe=0 progress=86.1% goal=30.06m dL=0.77 ttc=14.91s tl=None credit=0 reason=
[STEP] step=1120 speed= 17.37km/h thr=0.21 brk=0.00 str=+0.13 safe=0 progress=88.4% goal=25.15m dL=0.79 ttc=12.90s tl=None credit=0 reason=
[STEP] step=1140 speed= 17.69km/h thr=0.20 brk=0.00 str=-0.16 safe=0 progress=90.6% goal=20.35m dL=0.40 ttc=12.12s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.08km/h thr=0.31 brk=0.00 str=-0.01 safe=0 progress=92.9% goal=15.34m dL=0.35 ttc=12.58s tl=None credit=0 reason=
[STEP] step=1170 speed= 18.14km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=94.1% goal=12.82m dL=0.35 ttc=16.08s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=03 R=-81.66 steps=1170 success=1 progress=94.1% DS=94.07 intv=0.171 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 Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=+0.04 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=53.84s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=17.36s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.68km/h thr=0.15 brk=0.00 str=+0.08 safe=0 progress=3.1% goal=209.68m dL=0.10 ttc=15.60s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.84km/h thr=0.00 brk=0.15 str=+0.04 safe=0 progress=5.1% goal=205.22m dL=0.01 ttc=17.74s tl=None credit=0 reason=
[STEP] step=0100 speed= 15.39km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=6.9% goal=201.34m dL=0.03 ttc=19.21s tl=None credit=0 reason=
[STEP] step=0120 speed= 12.16km/h thr=0.00 brk=0.26 str=-0.04 safe=0 progress=8.9% goal=197.07m dL=0.04 ttc=24.01s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.27 safe=0 progress=9.7% goal=195.26m dL=0.07 ttc=22.43s tl=None credit=0 reason=
[STEP] step=0160 speed=  3.99km/h thr=0.75 brk=0.00 str=-0.13 safe=1 progress=9.8% goal=195.11m dL=0.06 ttc=21.68s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.75km/h thr=0.24 brk=0.00 str=+0.01 safe=0 progress=11.4% goal=191.67m dL=0.01 ttc=21.90s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.40km/h thr=0.00 brk=0.25 str=-0.00 safe=0 progress=13.2% goal=187.65m dL=0.04 ttc=15.47s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.18 safe=0 progress=13.8% goal=186.44m dL=0.04 ttc=11.62s tl=None credit=0 reason=
[STEP] step=0240 speed=  6.69km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=14.0% goal=186.06m dL=0.03 ttc=11.35s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.84km/h thr=0.00 brk=0.08 str=+0.09 safe=0 progress=15.8% goal=182.08m dL=0.02 ttc=12.12s tl=None credit=0 reason=
[STEP] step=0280 speed=  9.74km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=17.6% goal=178.28m dL=0.02 ttc=9.99s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.18 safe=0 progress=18.0% goal=177.33m dL=0.01 ttc=8.96s tl=None credit=0 reason=
[STEP] step=0320 speed=  8.53km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=18.3% goal=176.75m dL=0.01 ttc=10.84s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.92km/h thr=0.00 brk=0.24 str=-0.04 safe=0 progress=20.2% goal=172.50m dL=0.04 ttc=8.64s tl=None credit=0 reason=
[STEP] step=0360 speed=  8.77km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=21.9% goal=168.98m dL=0.01 ttc=6.22s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.10 safe=0 progress=22.2% goal=168.35m dL=0.00 ttc=4.71s tl=None credit=0 reason=
[STEP] step=0400 speed= 11.21km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=22.6% goal=167.34m dL=0.00 ttc=3.30s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.24km/h thr=0.00 brk=0.48 str=+0.02 safe=0 progress=24.7% goal=162.85m dL=0.17 ttc=2.03s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.72 str=-0.15 safe=0 progress=25.6% goal=160.96m dL=0.32 ttc=3.28s tl=None credit=0 reason=
[STEP] step=0460 speed=  4.81km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=25.7% goal=160.76m dL=0.31 ttc=82.27s tl=None credit=0 reason=
[STEP] step=0480 speed= 17.71km/h thr=0.18 brk=0.00 str=+0.10 safe=0 progress=27.3% goal=157.15m dL=0.12 ttc=38.41s tl=None credit=0 reason=
[STEP] step=0500 speed= 11.03km/h thr=0.00 brk=0.15 str=+0.04 safe=0 progress=29.2% goal=153.09m dL=0.01 ttc=22.98s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.17 safe=0 progress=29.9% goal=151.61m dL=0.00 ttc=22.75s tl=None credit=0 reason=
[STEP] step=0540 speed=  5.95km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=30.0% goal=151.32m dL=0.00 ttc=20.73s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.54km/h thr=0.12 brk=0.00 str=+0.02 safe=0 progress=31.7% goal=147.71m dL=0.05 ttc=18.43s tl=None credit=0 reason=
[STEP] step=0580 speed=  8.15km/h thr=0.00 brk=0.34 str=-0.12 safe=0 progress=33.3% goal=144.28m dL=0.17 ttc=17.99s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.36 str=-0.15 safe=0 progress=33.5% goal=143.89m dL=0.16 ttc=14.18s tl=None credit=0 reason=
[STEP] step=0620 speed= 12.87km/h thr=0.54 brk=0.00 str=-0.13 safe=1 progress=34.1% goal=142.56m dL=0.06 ttc=15.71s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.03km/h thr=0.00 brk=0.31 str=-0.04 safe=0 progress=36.0% goal=138.39m dL=0.09 ttc=15.44s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.21 safe=0 progress=37.0% goal=136.32m dL=0.15 ttc=12.37s tl=None credit=0 reason=
[STEP] step=0680 speed=  2.41km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=37.0% goal=136.26m dL=0.15 ttc=12.55s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.01km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=38.3% goal=133.36m dL=0.02 ttc=19.06s tl=None credit=0 reason=
[STEP] step=0720 speed=  9.47km/h thr=0.00 brk=0.32 str=-0.13 safe=0 progress=40.1% goal=129.58m dL=0.12 ttc=21.41s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.20 safe=0 progress=40.5% goal=128.79m dL=0.13 ttc=22.97s tl=None credit=0 reason=
[STEP] step=0760 speed= 10.23km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=40.8% goal=127.94m dL=0.07 ttc=21.76s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.40km/h thr=0.00 brk=0.36 str=-0.06 safe=0 progress=42.7% goal=123.86m dL=0.07 ttc=14.67s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.14 safe=0 progress=43.9% goal=121.31m dL=0.12 ttc=12.14s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.97km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=43.9% goal=121.30m dL=0.12 ttc=10.82s tl=None credit=0 reason=
[STEP] step=0840 speed= 15.23km/h thr=0.42 brk=0.00 str=-0.02 safe=1 progress=45.1% goal=118.79m dL=0.02 ttc=7.19s tl=None credit=0 reason=
[STEP] step=0860 speed= 10.17km/h thr=0.00 brk=0.31 str=-0.06 safe=0 progress=46.9% goal=114.89m dL=0.16 ttc=6.72s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.19 safe=0 progress=47.3% goal=113.88m dL=0.14 ttc=7.39s tl=None credit=0 reason=
[STEP] step=0900 speed=  8.48km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=47.6% goal=113.29m dL=0.11 ttc=5.06s tl=None credit=0 reason=
[STEP] step=0920 speed= 15.29km/h thr=0.00 brk=0.24 str=-0.09 safe=0 progress=49.4% goal=109.38m dL=0.02 ttc=3.45s tl=None credit=0 reason=
[STEP] step=0940 speed=  6.91km/h thr=0.00 brk=0.25 str=-0.07 safe=0 progress=50.8% goal=106.37m dL=0.04 ttc=3.08s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.37 str=-0.05 safe=0 progress=50.9% goal=106.21m dL=0.05 ttc=2.81s tl=None credit=0 reason=
[STEP] step=0980 speed= 13.89km/h thr=0.42 brk=0.00 str=-0.06 safe=1 progress=51.7% goal=104.50m dL=0.00 ttc=2.09s tl=None credit=0 reason=
[STEP] step=1000 speed= 12.86km/h thr=0.12 brk=0.00 str=-0.02 safe=0 progress=53.6% goal=100.35m dL=0.10 ttc=17.24s tl=None credit=0 reason=
[STEP] step=1020 speed= 13.38km/h thr=0.33 brk=0.00 str=+0.14 safe=0 progress=55.3% goal=96.62m dL=0.11 ttc=15.84s tl=None credit=0 reason=
[STEP] step=1040 speed= 15.46km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=57.1% goal=92.69m dL=0.00 ttc=13.89s tl=None credit=0 reason=
[STEP] step=1060 speed= 15.82km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=59.1% goal=88.42m dL=0.20 ttc=12.46s tl=None credit=0 reason=
[STEP] step=1080 speed= 17.64km/h thr=0.37 brk=0.00 str=-0.07 safe=0 progress=61.3% goal=83.67m dL=0.36 ttc=11.21s tl=None credit=0 reason=
[STEP] step=1100 speed= 19.21km/h thr=0.47 brk=0.00 str=-0.02 safe=0 progress=63.7% goal=78.58m dL=0.35 ttc=10.03s tl=None credit=0 reason=
[STEP] step=1120 speed= 19.39km/h thr=0.41 brk=0.00 str=-0.02 safe=0 progress=66.2% goal=73.18m dL=0.15 ttc=9.13s tl=None credit=0 reason=
[STEP] step=1140 speed= 21.08km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=68.8% goal=67.54m dL=0.08 ttc=8.00s tl=None credit=0 reason=
[STEP] step=1160 speed= 21.46km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=71.5% goal=61.63m dL=0.10 ttc=7.10s tl=None credit=0 reason=
[STEP] step=1180 speed= 22.28km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=74.3% goal=55.58m dL=0.15 ttc=6.26s tl=None credit=0 reason=
[STEP] step=1200 speed= 22.60km/h thr=0.35 brk=0.00 str=-0.02 safe=0 progress=77.2% goal=49.33m dL=0.14 ttc=5.60s tl=None credit=0 reason=
[STEP] step=1220 speed= 24.13km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=80.1% goal=42.95m dL=0.43 ttc=4.97s tl=None credit=0 reason=
[STEP] step=1240 speed= 22.85km/h thr=0.14 brk=0.00 str=-0.01 safe=0 progress=83.3% goal=36.23m dL=0.89 ttc=5.31s tl=None credit=0 reason=
[STEP] step=1260 speed= 12.10km/h thr=0.42 brk=0.00 str=+0.08 safe=0 progress=85.0% goal=32.36m dL=0.72 ttc=11.55s tl=None credit=0 reason=
[STEP] step=1280 speed= 16.31km/h thr=0.18 brk=0.00 str=-0.09 safe=0 progress=87.0% goal=28.20m dL=0.41 ttc=43.63s tl=None credit=0 reason=
[STEP] step=1300 speed= 18.73km/h thr=0.44 brk=0.00 str=+0.04 safe=0 progress=89.1% goal=23.58m dL=0.40 ttc=39.99s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.25km/h thr=0.44 brk=0.00 str=+0.15 safe=0 progress=91.5% goal=18.45m dL=0.41 ttc=38.99s tl=None credit=0 reason=
[STEP] step=1340 speed= 21.99km/h thr=0.54 brk=0.00 str=-0.20 safe=0 progress=94.0% goal=13.01m dL=0.17 ttc=33.41s tl=None credit=0 reason=
[STEP] step=1341 speed= 22.46km/h thr=0.48 brk=0.00 str=-0.20 safe=0 progress=94.1% goal=12.70m dL=0.19 ttc=32.63s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=04 R=-35.68 steps=1341 success=1 progress=94.1% DS=94.13 intv=0.242 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 Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=49.95s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=41.51s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.42km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=3.0% goal=209.89m dL=0.11 ttc=46.09s tl=None credit=0 reason=
[STEP] step=0080 speed= 12.25km/h thr=0.00 brk=0.24 str=+0.01 safe=0 progress=4.9% goal=205.64m dL=0.02 ttc=45.86s tl=None credit=0 reason=
[STEP] step=0100 speed= 14.56km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=6.5% goal=202.30m dL=0.04 ttc=69.36s tl=None credit=0 reason=
[STEP] step=0120 speed= 13.12km/h thr=0.00 brk=0.23 str=+0.01 safe=0 progress=8.5% goal=197.98m dL=0.03 ttc=38.07s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.25 safe=0 progress=9.5% goal=195.76m dL=0.07 ttc=15.03s tl=None credit=0 reason=
[STEP] step=0160 speed=  1.64km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=9.5% goal=195.73m dL=0.06 ttc=16.39s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.34km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=10.8% goal=192.90m dL=0.02 ttc=60.21s tl=None credit=0 reason=
[STEP] step=0200 speed= 11.76km/h thr=0.00 brk=0.22 str=+0.01 safe=0 progress=12.8% goal=188.55m dL=0.05 ttc=75.94s tl=None credit=0 reason=
[STEP] step=0220 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.23 safe=0 progress=13.6% goal=186.86m dL=0.06 ttc=45.21s tl=None credit=0 reason=
[STEP] step=0240 speed=  4.06km/h thr=0.75 brk=0.00 str=-0.06 safe=1 progress=13.7% goal=186.71m dL=0.05 ttc=45.29s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.89km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=15.3% goal=183.27m dL=0.02 ttc=59.99s tl=None credit=0 reason=
[STEP] step=0280 speed= 10.84km/h thr=0.00 brk=0.25 str=+0.00 safe=0 progress=17.2% goal=179.16m dL=0.02 ttc=50.30s tl=None credit=0 reason=
[STEP] step=0300 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.16 safe=0 progress=17.8% goal=177.77m dL=0.01 ttc=28.11s tl=None credit=0 reason=
[STEP] step=0320 speed=  5.86km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=17.9% goal=177.48m dL=0.01 ttc=35.78s tl=None credit=0 reason=
[STEP] step=0340 speed= 17.95km/h thr=0.12 brk=0.00 str=+0.01 safe=0 progress=19.7% goal=173.66m dL=0.02 ttc=63.68s tl=None credit=0 reason=
[STEP] step=0360 speed=  9.97km/h thr=0.00 brk=0.24 str=+0.00 safe=0 progress=21.5% goal=169.79m dL=0.01 ttc=58.15s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.11 safe=0 progress=22.0% goal=168.77m dL=0.00 ttc=33.25s tl=None credit=0 reason=
[STEP] step=0400 speed=  8.46km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=22.2% goal=168.18m dL=0.00 ttc=29.24s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.07km/h thr=0.00 brk=0.23 str=-0.06 safe=0 progress=24.2% goal=163.92m dL=0.02 ttc=20.07s tl=None credit=0 reason=
[STEP] step=0440 speed=  9.02km/h thr=0.00 brk=0.20 str=+0.01 safe=0 progress=25.9% goal=160.34m dL=0.00 ttc=14.82s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.11 safe=0 progress=26.2% goal=159.56m dL=0.01 ttc=11.48s tl=None credit=0 reason=
[STEP] step=0480 speed= 10.43km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=26.6% goal=158.70m dL=0.00 ttc=9.37s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.82km/h thr=0.00 brk=0.20 str=+0.00 safe=0 progress=28.7% goal=154.31m dL=0.01 ttc=8.07s tl=None credit=0 reason=
[STEP] step=0520 speed=  7.88km/h thr=0.00 brk=0.29 str=+0.01 safe=0 progress=30.2% goal=151.04m dL=0.00 ttc=7.10s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.17 safe=0 progress=30.3% goal=150.66m dL=0.00 ttc=6.07s tl=None credit=0 reason=
[STEP] step=0560 speed= 12.90km/h thr=0.54 brk=0.00 str=-0.02 safe=1 progress=31.0% goal=149.32m dL=0.01 ttc=5.12s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.16km/h thr=0.00 brk=0.30 str=-0.02 safe=0 progress=32.9% goal=145.13m dL=0.10 ttc=4.19s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.20 safe=0 progress=33.9% goal=143.03m dL=0.16 ttc=3.14s tl=None credit=0 reason=
[STEP] step=0620 speed=  2.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=33.9% goal=142.97m dL=0.16 ttc=2.19s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.91km/h thr=0.36 brk=0.00 str=+0.10 safe=0 progress=35.2% goal=140.08m dL=0.01 ttc=1.53s tl=None credit=0 reason=
[STEP] step=0660 speed= 19.01km/h thr=0.43 brk=0.00 str=-0.05 safe=0 progress=37.5% goal=135.15m dL=0.00 ttc=77.92s tl=None credit=0 reason=
[STEP] step=0680 speed= 22.18km/h thr=0.38 brk=0.00 str=-0.09 safe=0 progress=40.2% goal=129.45m dL=0.17 ttc=84.31s tl=None credit=0 reason=
[STEP] step=0700 speed= 24.42km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=43.1% goal=123.02m dL=0.17 ttc=85.46s tl=None credit=0 reason=
[STEP] step=0720 speed=  6.33km/h thr=0.00 brk=0.36 str=-0.03 safe=0 progress=45.8% goal=117.29m dL=0.18 ttc=67.32s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.23km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=45.8% goal=117.23m dL=0.18 ttc=17.93s tl=None credit=0 reason=
[STEP] step=0760 speed= 14.35km/h thr=0.42 brk=0.00 str=-0.10 safe=1 progress=46.7% goal=115.33m dL=0.05 ttc=22.11s tl=None credit=0 reason=
[STEP] step=0780 speed= 11.46km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=48.6% goal=111.26m dL=0.14 ttc=24.94s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.14 safe=0 progress=49.2% goal=109.79m dL=0.14 ttc=27.05s tl=None credit=0 reason=
[STEP] step=0820 speed=  5.85km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=49.4% goal=109.51m dL=0.12 ttc=64.94s tl=None credit=0 reason=
[STEP] step=0840 speed= 16.04km/h thr=0.12 brk=0.00 str=-0.05 safe=0 progress=51.0% goal=105.95m dL=0.08 ttc=103.23s tl=None credit=0 reason=
[STEP] step=0860 speed=  7.46km/h thr=0.00 brk=0.36 str=-0.12 safe=0 progress=52.5% goal=102.68m dL=0.14 ttc=56.65s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.15 safe=0 progress=52.6% goal=102.47m dL=0.14 ttc=67.77s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.91km/h thr=0.42 brk=0.00 str=+0.17 safe=1 progress=53.4% goal=100.77m dL=0.02 ttc=63.43s tl=None credit=0 reason=
[STEP] step=0920 speed= 11.84km/h thr=0.00 brk=0.36 str=-0.07 safe=0 progress=55.3% goal=96.68m dL=0.14 ttc=63.82s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.18 safe=0 progress=56.0% goal=95.14m dL=0.15 ttc=90.39s tl=None credit=0 reason=
[STEP] step=0960 speed=  5.85km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=56.1% goal=94.85m dL=0.14 ttc=54.95s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.24km/h thr=0.12 brk=0.00 str=+0.09 safe=0 progress=57.9% goal=91.14m dL=0.01 ttc=34.55s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.54km/h thr=0.18 brk=0.00 str=-0.21 safe=0 progress=60.0% goal=86.61m dL=0.17 ttc=17.95s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.56km/h thr=0.56 brk=0.00 str=-0.07 safe=0 progress=62.2% goal=81.77m dL=0.23 ttc=12.07s tl=None credit=0 reason=
[STEP] step=1040 speed= 23.83km/h thr=0.00 brk=0.08 str=+0.14 safe=0 progress=65.1% goal=75.56m dL=0.45 ttc=8.55s tl=None credit=0 reason=
[STEP] step=1060 speed= 18.11km/h thr=0.40 brk=0.00 str=-0.03 safe=0 progress=67.6% goal=70.00m dL=0.14 ttc=7.65s tl=None credit=0 reason=
[STEP] step=1080 speed= 20.21km/h thr=0.46 brk=0.00 str=+0.07 safe=0 progress=70.0% goal=64.82m dL=0.25 ttc=6.43s tl=None credit=0 reason=
[STEP] step=1100 speed= 18.20km/h thr=0.38 brk=0.00 str=-0.05 safe=0 progress=72.6% goal=59.31m dL=0.16 ttc=5.59s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.14km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=74.9% goal=54.21m dL=0.25 ttc=4.94s tl=None credit=0 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.32 str=+0.10 safe=0 progress=75.3% goal=53.42m dL=0.21 ttc=6.80s tl=None credit=0 reason=
[STEP] step=1160 speed= 11.21km/h thr=0.75 brk=0.00 str=+0.05 safe=1 progress=75.8% goal=52.42m dL=0.13 ttc=5.67s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.34km/h thr=0.42 brk=0.00 str=+0.10 safe=0 progress=77.9% goal=47.83m dL=0.26 ttc=4.30s tl=None credit=0 reason=
[STEP] step=1200 speed= 18.13km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=80.2% goal=42.76m dL=0.17 ttc=12.55s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.27km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=82.6% goal=37.71m dL=0.02 ttc=19.74s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.04km/h thr=0.26 brk=0.00 str=+0.04 safe=0 progress=84.9% goal=32.69m dL=0.05 ttc=37.43s tl=None credit=0 reason=
[STEP] step=1260 speed= 18.28km/h thr=0.45 brk=0.00 str=+0.03 safe=0 progress=87.2% goal=27.66m dL=0.11 ttc=7.12s tl=None credit=0 reason=
[STEP] step=1280 speed= 19.85km/h thr=0.36 brk=0.00 str=+0.05 safe=0 progress=89.7% goal=22.29m dL=0.12 ttc=57.97s tl=None credit=0 reason=
[STEP] step=1300 speed= 21.25km/h thr=0.34 brk=0.00 str=-0.13 safe=0 progress=92.4% goal=16.47m dL=0.18 ttc=54.28s tl=None credit=0 reason=
[STEP] step=1312 speed= 21.89km/h thr=0.40 brk=0.00 str=+0.14 safe=0 progress=94.0% goal=12.91m dL=0.39 ttc=51.98s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=05 R=-2.53 steps=1312 success=1 progress=94.0% DS=94.03 intv=0.248 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 207 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=76.30s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.26km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.45m dL=0.00 ttc=19.18s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.28km/h thr=0.42 brk=0.00 str=-0.07 safe=0 progress=3.0% goal=209.89m dL=0.27 ttc=21.17s tl=None credit=0 reason=
[STEP] step=0080 speed= 14.39km/h thr=0.00 brk=0.00 str=+0.07 safe=0 progress=5.0% goal=205.52m dL=1.11 ttc=13.84s tl=None credit=0 reason=
[STEP] step=0100 speed=  9.82km/h thr=0.19 brk=0.00 str=+0.21 safe=0 progress=6.5% goal=202.29m dL=1.43 ttc=15.17s tl=None credit=0 reason=
[STEP] step=0120 speed= 11.77km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=7.7% goal=199.57m dL=0.84 ttc=35.14s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.66km/h thr=0.30 brk=0.00 str=-0.07 safe=0 progress=9.5% goal=195.73m dL=0.37 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0160 speed=  9.51km/h thr=0.00 brk=0.40 str=-0.01 safe=0 progress=11.3% goal=191.91m dL=0.10 ttc=304.78s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.00km/h thr=0.00 brk=0.28 str=-0.07 safe=0 progress=11.6% goal=191.13m dL=0.07 ttc=377.01s tl=None credit=0 reason=
[STEP] step=0200 speed= 10.20km/h thr=0.75 brk=0.00 str=-0.04 safe=1 progress=12.0% goal=190.30m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.87km/h thr=0.00 brk=0.22 str=-0.05 safe=0 progress=14.1% goal=185.90m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  7.70km/h thr=0.00 brk=0.41 str=+0.00 safe=0 progress=15.5% goal=182.68m dL=0.00 ttc=353.52s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.62 str=-0.18 safe=0 progress=15.7% goal=182.40m dL=0.01 ttc=44.61s tl=None credit=0 reason=
[STEP] step=0280 speed= 13.11km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=16.3% goal=181.05m dL=0.00 ttc=216.08s tl=None credit=0 reason=
[STEP] step=0300 speed= 14.04km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=18.4% goal=176.55m dL=0.02 ttc=68.57s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.10 safe=0 progress=19.6% goal=173.91m dL=0.01 ttc=21.81s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.40km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=19.6% goal=173.91m dL=0.01 ttc=21.57s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.53km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=20.7% goal=171.51m dL=0.01 ttc=40.39s tl=None credit=0 reason=
[STEP] step=0380 speed= 12.69km/h thr=0.00 brk=0.22 str=-0.00 safe=0 progress=22.8% goal=167.04m dL=0.02 ttc=33.09s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.11 safe=0 progress=23.7% goal=165.02m dL=0.00 ttc=24.09s tl=None credit=0 reason=
[STEP] step=0420 speed=  3.14km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=23.8% goal=164.92m dL=0.00 ttc=32.15s tl=None credit=0 reason=
[STEP] step=0440 speed= 17.74km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=25.3% goal=161.67m dL=0.01 ttc=72.89s tl=None credit=0 reason=
[STEP] step=0460 speed= 11.43km/h thr=0.00 brk=0.19 str=+0.03 safe=0 progress=27.2% goal=157.45m dL=0.02 ttc=55.60s tl=None credit=0 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.22 safe=0 progress=27.9% goal=155.92m dL=0.00 ttc=35.49s tl=None credit=0 reason=
[STEP] step=0500 speed=  5.69km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=28.0% goal=155.63m dL=0.01 ttc=47.68s tl=None credit=0 reason=
[STEP] step=0520 speed= 16.95km/h thr=0.12 brk=0.00 str=+0.09 safe=0 progress=29.8% goal=151.94m dL=0.02 ttc=135.32s tl=None credit=0 reason=
[STEP] step=0540 speed=  8.50km/h thr=0.00 brk=0.35 str=+0.05 safe=0 progress=31.4% goal=148.38m dL=0.13 ttc=86.30s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.20 safe=0 progress=31.7% goal=147.84m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 12.18km/h thr=0.65 brk=0.00 str=-0.09 safe=1 progress=32.2% goal=146.67m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.63km/h thr=0.00 brk=0.34 str=+0.03 safe=0 progress=34.1% goal=142.48m dL=0.08 ttc=116.21s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.18 safe=0 progress=35.2% goal=140.25m dL=0.15 ttc=53.88s tl=None credit=0 reason=
[STEP] step=0640 speed=  2.48km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.2% goal=140.19m dL=0.14 ttc=72.69s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.91km/h thr=0.36 brk=0.00 str=+0.01 safe=0 progress=36.5% goal=137.28m dL=0.01 ttc=219.99s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.47km/h thr=0.00 brk=0.34 str=-0.13 safe=0 progress=38.3% goal=133.50m dL=0.17 ttc=134.48s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.16 safe=0 progress=38.6% goal=132.76m dL=0.15 ttc=135.77s tl=None credit=0 reason=
[STEP] step=0720 speed= 10.35km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=39.0% goal=131.91m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 14.44km/h thr=0.00 brk=0.35 str=-0.06 safe=0 progress=40.9% goal=127.83m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.20 safe=0 progress=42.1% goal=125.30m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.93km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=42.1% goal=125.28m dL=0.15 ttc=162.76s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.23km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=43.2% goal=122.77m dL=0.03 ttc=32.17s tl=None credit=0 reason=
[STEP] step=0820 speed= 10.15km/h thr=0.00 brk=0.34 str=-0.06 safe=0 progress=45.0% goal=118.87m dL=0.14 ttc=19.48s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=45.5% goal=117.88m dL=0.16 ttc=22.15s tl=None credit=0 reason=
[STEP] step=0860 speed=  8.38km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=45.8% goal=117.30m dL=0.13 ttc=19.52s tl=None credit=0 reason=
[STEP] step=0880 speed= 15.35km/h thr=0.00 brk=0.24 str=-0.02 safe=0 progress=47.6% goal=113.38m dL=0.06 ttc=18.39s tl=None credit=0 reason=
[STEP] step=0900 speed=  1.43km/h thr=0.00 brk=0.40 str=-0.11 safe=0 progress=48.9% goal=110.49m dL=0.14 ttc=20.34s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.9% goal=110.48m dL=0.14 ttc=23.24s tl=None credit=0 reason=
[STEP] step=0940 speed= 14.67km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=49.9% goal=108.37m dL=0.02 ttc=20.94s tl=None credit=0 reason=
[STEP] step=0960 speed= 10.85km/h thr=0.00 brk=0.37 str=-0.07 safe=0 progress=51.7% goal=104.37m dL=0.15 ttc=26.05s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.16 safe=0 progress=52.3% goal=103.19m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1000 speed=  7.63km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=52.5% goal=102.72m dL=0.12 ttc=148.84s tl=None credit=0 reason=
[STEP] step=1020 speed= 15.76km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=54.3% goal=98.90m dL=0.12 ttc=92.49s tl=None credit=0 reason=
[STEP] step=1040 speed=  1.87km/h thr=0.00 brk=0.41 str=-0.13 safe=0 progress=55.6% goal=95.93m dL=0.16 ttc=515.14s tl=None credit=0 reason=
[STEP] step=1060 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.7% goal=95.92m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1080 speed= 15.26km/h thr=0.46 brk=0.00 str=+0.16 safe=1 progress=56.6% goal=93.81m dL=0.03 ttc=68.56s tl=None credit=0 reason=
[STEP] step=1100 speed= 11.40km/h thr=0.00 brk=0.42 str=-0.14 safe=0 progress=58.6% goal=89.60m dL=0.18 ttc=67.46s tl=None credit=0 reason=
[STEP] step=1120 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.24 safe=0 progress=59.2% goal=88.35m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=1140 speed=  7.53km/h thr=0.75 brk=0.00 str=-0.16 safe=1 progress=59.4% goal=87.87m dL=0.08 ttc=86.96s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.07km/h thr=0.41 brk=0.00 str=-0.03 safe=0 progress=61.3% goal=83.74m dL=0.12 ttc=36.49s tl=None credit=0 reason=
[STEP] step=1180 speed= 21.86km/h thr=0.39 brk=0.00 str=-0.01 safe=0 progress=63.9% goal=78.18m dL=0.11 ttc=31.88s tl=None credit=0 reason=
[STEP] step=1200 speed= 22.85km/h thr=0.34 brk=0.00 str=-0.02 safe=0 progress=66.7% goal=71.96m dL=0.07 ttc=30.66s tl=None credit=0 reason=
[STEP] step=1220 speed= 22.98km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=69.7% goal=65.64m dL=0.10 ttc=31.61s tl=None credit=0 reason=
[STEP] step=1240 speed= 23.49km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=72.6% goal=59.24m dL=0.15 ttc=32.78s tl=None credit=0 reason=
[STEP] step=1260 speed= 23.58km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=75.6% goal=52.71m dL=0.19 ttc=32.23s tl=None credit=0 reason=
[STEP] step=1280 speed= 16.76km/h thr=0.12 brk=0.00 str=-0.02 safe=0 progress=78.3% goal=46.89m dL=0.30 ttc=31.71s tl=None credit=0 reason=
[STEP] step=1300 speed= 19.86km/h thr=0.39 brk=0.00 str=+0.06 safe=0 progress=80.6% goal=41.92m dL=0.65 ttc=30.71s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.56km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=83.1% goal=36.46m dL=0.73 ttc=35.31s tl=None credit=0 reason=
[STEP] step=1340 speed= 18.15km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=85.5% goal=31.42m dL=0.84 ttc=39.87s tl=None credit=0 reason=
[STEP] step=1360 speed= 17.94km/h thr=0.27 brk=0.00 str=+0.00 safe=0 progress=87.8% goal=26.40m dL=0.95 ttc=45.78s tl=None credit=0 reason=
[STEP] step=1380 speed= 18.09km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=90.1% goal=21.39m dL=1.03 ttc=128.55s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.08km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=92.4% goal=16.38m dL=1.11 ttc=168.90s tl=None credit=0 reason=
[STEP] step=1414 speed= 18.06km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=94.1% goal=12.86m dL=1.18 ttc=227.50s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=06 R=-41.14 steps=1414 success=1 progress=94.1% DS=94.06 intv=0.265 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 219 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=79.91s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=128.56s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.31km/h thr=0.00 brk=0.27 str=-0.02 safe=0 progress=2.9% goal=210.06m dL=0.07 ttc=110.63s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.18 safe=0 progress=3.7% goal=208.28m dL=0.10 ttc=51.82s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.06km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=3.8% goal=208.13m dL=0.09 ttc=65.49s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.74km/h thr=0.24 brk=0.00 str=-0.13 safe=0 progress=5.4% goal=204.68m dL=0.00 ttc=92.32s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.64km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=7.3% goal=200.61m dL=0.03 ttc=49.42s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.11 safe=0 progress=7.8% goal=199.45m dL=0.04 ttc=33.68s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.68km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=8.0% goal=198.98m dL=0.03 ttc=23.80s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.20km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=9.9% goal=194.88m dL=0.03 ttc=21.44s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.68km/h thr=0.00 brk=0.26 str=-0.05 safe=0 progress=11.5% goal=191.33m dL=0.03 ttc=15.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.17 safe=0 progress=11.8% goal=190.73m dL=0.02 ttc=11.46s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.16km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=12.3% goal=189.73m dL=0.02 ttc=12.13s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.51km/h thr=0.00 brk=0.21 str=+0.03 safe=0 progress=14.4% goal=185.25m dL=0.03 ttc=11.73s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.58km/h thr=0.00 brk=0.33 str=+0.02 safe=0 progress=15.8% goal=182.09m dL=0.02 ttc=9.48s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.09 safe=0 progress=15.9% goal=181.83m dL=0.01 ttc=9.10s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.08km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=16.7% goal=180.28m dL=0.01 ttc=11.42s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.32km/h thr=0.00 brk=0.20 str=-0.01 safe=0 progress=18.8% goal=175.67m dL=0.02 ttc=8.17s tl=None credit=0 reason=
[STEP] step=0380 speed=  2.92km/h thr=0.00 brk=0.37 str=-0.00 safe=0 progress=20.1% goal=172.85m dL=0.00 ttc=5.90s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=20.1% goal=172.84m dL=0.00 ttc=4.57s tl=None credit=0 reason=
[STEP] step=0420 speed= 15.54km/h thr=0.53 brk=0.00 str=+0.00 safe=1 progress=21.0% goal=170.89m dL=0.00 ttc=3.07s tl=None credit=0 reason=
[STEP] step=0440 speed= 11.11km/h thr=0.00 brk=0.71 str=+0.03 safe=0 progress=23.0% goal=166.55m dL=0.21 ttc=2.05s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.25 safe=0 progress=23.4% goal=165.77m dL=0.27 ttc=7.05s tl=None credit=0 reason=
[STEP] step=0480 speed= 10.21km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=23.8% goal=164.93m dL=0.23 ttc=378.02s tl=None credit=0 reason=
[STEP] step=0500 speed= 15.98km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=25.8% goal=160.53m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0520 speed=  7.98km/h thr=0.00 brk=0.37 str=+0.03 safe=0 progress=27.3% goal=157.22m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.19 safe=0 progress=27.5% goal=156.86m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.08km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=28.1% goal=155.51m dL=0.00 ttc=181.61s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.06km/h thr=0.00 brk=0.25 str=+0.05 safe=0 progress=30.1% goal=151.12m dL=0.04 ttc=74.90s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.11 safe=0 progress=31.2% goal=148.72m dL=0.10 ttc=31.66s tl=None credit=0 reason=
[STEP] step=0620 speed=  1.67km/h thr=0.75 brk=0.00 str=-0.15 safe=1 progress=31.3% goal=148.69m dL=0.10 ttc=19.49s tl=None credit=0 reason=
[STEP] step=0640 speed= 15.63km/h thr=0.42 brk=0.00 str=-0.11 safe=1 progress=32.5% goal=145.97m dL=0.07 ttc=15.97s tl=None credit=0 reason=
[STEP] step=0660 speed=  9.99km/h thr=0.00 brk=0.31 str=-0.04 safe=0 progress=34.3% goal=142.10m dL=0.16 ttc=15.75s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.19 safe=0 progress=34.7% goal=141.17m dL=0.17 ttc=15.90s tl=None credit=0 reason=
[STEP] step=0700 speed=  9.36km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.1% goal=140.46m dL=0.13 ttc=14.59s tl=None credit=0 reason=
[STEP] step=0720 speed= 14.97km/h thr=0.00 brk=0.32 str=-0.03 safe=0 progress=36.9% goal=136.44m dL=0.07 ttc=15.55s tl=None credit=0 reason=
[STEP] step=0740 speed=  1.21km/h thr=0.00 brk=0.38 str=-0.11 safe=0 progress=38.2% goal=133.60m dL=0.16 ttc=21.35s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=38.2% goal=133.59m dL=0.16 ttc=207.18s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.77km/h thr=0.42 brk=0.00 str=-0.12 safe=1 progress=39.2% goal=131.50m dL=0.02 ttc=48.79s tl=None credit=0 reason=
[STEP] step=0800 speed= 11.19km/h thr=0.00 brk=0.32 str=-0.06 safe=0 progress=41.1% goal=127.43m dL=0.14 ttc=68.14s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=41.7% goal=126.10m dL=0.15 ttc=617.06s tl=None credit=0 reason=
[STEP] step=0840 speed=  6.65km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=41.9% goal=125.73m dL=0.12 ttc=64.04s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.20km/h thr=0.00 brk=0.08 str=+0.05 safe=0 progress=43.6% goal=122.00m dL=0.07 ttc=18.75s tl=None credit=0 reason=
[STEP] step=0880 speed=  7.34km/h thr=0.00 brk=0.37 str=-0.14 safe=0 progress=45.1% goal=118.77m dL=0.15 ttc=19.62s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.17 safe=0 progress=45.2% goal=118.60m dL=0.15 ttc=31.78s tl=None credit=0 reason=
[STEP] step=0920 speed= 13.89km/h thr=0.42 brk=0.00 str=+0.14 safe=1 progress=46.0% goal=116.90m dL=0.03 ttc=15.65s tl=None credit=0 reason=
[STEP] step=0940 speed= 11.92km/h thr=0.00 brk=0.34 str=-0.06 safe=0 progress=47.9% goal=112.80m dL=0.13 ttc=11.44s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=48.6% goal=111.22m dL=0.16 ttc=12.46s tl=None credit=0 reason=
[STEP] step=0980 speed=  5.02km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.7% goal=111.01m dL=0.15 ttc=8.28s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.24km/h thr=0.18 brk=0.00 str=+0.17 safe=0 progress=50.3% goal=107.60m dL=0.01 ttc=5.00s tl=None credit=0 reason=
[STEP] step=1020 speed=  7.76km/h thr=0.00 brk=0.38 str=-0.14 safe=0 progress=51.8% goal=104.18m dL=0.11 ttc=4.47s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.10 safe=0 progress=52.0% goal=103.88m dL=0.11 ttc=4.35s tl=None credit=0 reason=
[STEP] step=1060 speed= 13.43km/h thr=0.42 brk=0.00 str=-0.06 safe=1 progress=52.7% goal=102.36m dL=0.03 ttc=2.39s tl=None credit=0 reason=
[STEP] step=1080 speed= 12.24km/h thr=0.00 brk=0.31 str=-0.07 safe=0 progress=54.6% goal=98.24m dL=0.04 ttc=1.49s tl=None credit=0 reason=
[STEP] step=1100 speed=  0.00km/h thr=0.00 brk=0.35 str=-0.04 safe=0 progress=55.4% goal=96.41m dL=0.03 ttc=1.82s tl=None credit=0 reason=
[STEP] step=1120 speed=  3.21km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=55.5% goal=96.32m dL=0.03 ttc=47.68s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.47km/h thr=0.30 brk=0.00 str=-0.07 safe=0 progress=56.9% goal=93.18m dL=0.00 ttc=117.96s tl=None credit=0 reason=
[STEP] step=1160 speed= 15.63km/h thr=0.42 brk=0.00 str=-0.13 safe=0 progress=58.9% goal=88.93m dL=0.18 ttc=85.46s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.60km/h thr=0.39 brk=0.00 str=+0.06 safe=0 progress=61.1% goal=84.05m dL=0.39 ttc=75.28s tl=None credit=0 reason=
[STEP] step=1200 speed= 21.98km/h thr=0.49 brk=0.00 str=-0.00 safe=0 progress=63.7% goal=78.53m dL=0.37 ttc=55.41s tl=None credit=0 reason=
[STEP] step=1220 speed= 24.27km/h thr=0.00 brk=0.07 str=+0.05 safe=0 progress=66.8% goal=71.81m dL=0.31 ttc=27.23s tl=None credit=0 reason=
[STEP] step=1240 speed= 19.86km/h thr=0.39 brk=0.00 str=-0.03 safe=0 progress=69.5% goal=66.00m dL=0.15 ttc=31.26s tl=None credit=0 reason=
[STEP] step=1260 speed= 22.12km/h thr=0.35 brk=0.00 str=+0.00 safe=0 progress=72.2% goal=60.16m dL=0.18 ttc=25.67s tl=None credit=0 reason=
[STEP] step=1280 speed= 22.63km/h thr=0.36 brk=0.00 str=-0.03 safe=0 progress=75.0% goal=53.98m dL=0.18 ttc=28.51s tl=None credit=0 reason=
[STEP] step=1300 speed= 19.41km/h thr=0.17 brk=0.00 str=+0.02 safe=0 progress=77.8% goal=47.97m dL=0.20 ttc=30.53s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.69km/h thr=0.59 brk=0.00 str=-0.03 safe=0 progress=80.2% goal=42.93m dL=0.43 ttc=28.77s tl=None credit=0 reason=
[STEP] step=1340 speed= 21.87km/h thr=0.19 brk=0.00 str=+0.03 safe=0 progress=82.9% goal=37.07m dL=0.76 ttc=38.45s tl=None credit=0 reason=
[STEP] step=1360 speed= 17.03km/h thr=0.12 brk=0.00 str=-0.08 safe=0 progress=85.4% goal=31.68m dL=0.65 ttc=40.48s tl=None credit=0 reason=
[STEP] step=1380 speed= 17.40km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=87.5% goal=27.01m dL=0.80 ttc=52.08s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.01km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=89.8% goal=22.05m dL=0.96 ttc=59.19s tl=None credit=0 reason=
[STEP] step=1420 speed= 18.03km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=92.1% goal=17.05m dL=1.05 ttc=59.72s tl=None credit=0 reason=
[STEP] step=1437 speed= 18.20km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=94.1% goal=12.79m dL=1.14 ttc=58.22s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=07 R=-2.04 steps=1437 success=1 progress=94.1% DS=94.09 intv=0.278 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 Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=37.44s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=59.33s tl=None credit=0 reason=
[STEP] step=0060 speed= 14.71km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=3.0% goal=209.90m dL=0.00 ttc=9.09s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.06km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=5.0% goal=205.43m dL=0.11 ttc=9.11s tl=None credit=0 reason=
[STEP] step=0100 speed= 15.89km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=7.1% goal=200.96m dL=0.11 ttc=8.32s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.19km/h thr=0.42 brk=0.00 str=-0.09 safe=0 progress=9.2% goal=196.48m dL=0.20 ttc=7.35s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.37km/h thr=0.29 brk=0.00 str=+0.02 safe=0 progress=11.3% goal=191.89m dL=0.20 ttc=7.24s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.92km/h thr=0.21 brk=0.00 str=-0.08 safe=0 progress=13.4% goal=187.31m dL=0.15 ttc=7.67s tl=None credit=0 reason=
[STEP] step=0180 speed= 17.66km/h thr=0.23 brk=0.00 str=+0.00 safe=0 progress=15.6% goal=182.56m dL=0.15 ttc=11.35s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.46km/h thr=0.11 brk=0.00 str=-0.02 safe=0 progress=17.8% goal=177.77m dL=0.09 ttc=22.47s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.53km/h thr=0.13 brk=0.00 str=+0.06 safe=0 progress=19.9% goal=173.24m dL=0.10 ttc=53.30s tl=None credit=0 reason=
[STEP] step=0240 speed= 15.98km/h thr=0.12 brk=0.00 str=-0.00 safe=0 progress=22.0% goal=168.73m dL=0.12 ttc=58.95s tl=None credit=0 reason=
[STEP] step=0260 speed= 14.96km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=24.0% goal=164.30m dL=0.13 ttc=55.65s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.20km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=26.1% goal=159.87m dL=0.14 ttc=54.07s tl=None credit=0 reason=
[STEP] step=0300 speed= 15.73km/h thr=0.06 brk=0.00 str=+0.11 safe=0 progress=28.1% goal=155.44m dL=0.16 ttc=53.12s tl=None credit=0 reason=
[STEP] step=0320 speed= 10.96km/h thr=0.12 brk=0.00 str=+0.01 safe=0 progress=29.9% goal=151.73m dL=0.02 ttc=40.42s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.79km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=31.5% goal=148.22m dL=0.05 ttc=49.42s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.98km/h thr=0.20 brk=0.00 str=-0.09 safe=0 progress=33.3% goal=144.18m dL=0.12 ttc=49.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.43km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=35.1% goal=140.41m dL=0.15 ttc=50.59s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.37km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=36.8% goal=136.71m dL=0.15 ttc=35.98s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.35km/h thr=0.21 brk=0.00 str=-0.07 safe=0 progress=38.5% goal=133.01m dL=0.15 ttc=21.95s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.36km/h thr=0.21 brk=0.00 str=-0.06 safe=0 progress=40.2% goal=129.31m dL=0.18 ttc=17.77s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.35km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=41.9% goal=125.63m dL=0.20 ttc=16.28s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.30km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=43.6% goal=121.94m dL=0.24 ttc=14.86s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=45.3% goal=118.28m dL=0.26 ttc=13.59s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.27km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=47.0% goal=114.61m dL=0.27 ttc=12.33s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.27km/h thr=0.21 brk=0.00 str=-0.14 safe=0 progress=48.7% goal=110.96m dL=0.28 ttc=11.50s tl=None credit=0 reason=
[STEP] step=0560 speed= 14.74km/h thr=0.35 brk=0.00 str=-0.05 safe=0 progress=50.5% goal=107.16m dL=0.14 ttc=11.25s tl=None credit=0 reason=
[STEP] step=0580 speed= 15.24km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=52.4% goal=102.90m dL=0.11 ttc=11.28s tl=None credit=0 reason=
[STEP] step=0600 speed= 16.93km/h thr=0.35 brk=0.00 str=-0.06 safe=0 progress=54.5% goal=98.49m dL=0.12 ttc=10.94s tl=None credit=0 reason=
[STEP] step=0620 speed= 18.23km/h thr=0.31 brk=0.00 str=-0.03 safe=0 progress=56.8% goal=93.54m dL=0.14 ttc=9.49s tl=None credit=0 reason=
[STEP] step=0640 speed= 18.38km/h thr=0.35 brk=0.00 str=-0.13 safe=0 progress=59.1% goal=88.46m dL=0.12 ttc=8.31s tl=None credit=0 reason=
[STEP] step=0660 speed= 19.24km/h thr=0.45 brk=0.00 str=+0.01 safe=0 progress=61.5% goal=83.33m dL=0.04 ttc=7.17s tl=None credit=0 reason=
[STEP] step=0680 speed= 20.95km/h thr=0.33 brk=0.00 str=-0.02 safe=0 progress=64.2% goal=77.53m dL=0.06 ttc=6.56s tl=None credit=0 reason=
[STEP] step=0700 speed= 19.66km/h thr=0.22 brk=0.00 str=-0.07 safe=0 progress=66.8% goal=71.82m dL=0.08 ttc=6.42s tl=None credit=0 reason=
[STEP] step=0720 speed= 18.05km/h thr=0.29 brk=0.00 str=+0.03 safe=0 progress=69.2% goal=66.52m dL=0.00 ttc=4.77s tl=None credit=0 reason=
[STEP] step=0740 speed= 17.55km/h thr=0.21 brk=0.00 str=+0.03 safe=0 progress=71.6% goal=61.51m dL=0.03 ttc=3.59s tl=None credit=0 reason=
[STEP] step=0760 speed= 16.41km/h thr=0.31 brk=0.00 str=+0.01 safe=0 progress=73.7% goal=56.85m dL=0.02 ttc=2.46s tl=None credit=0 reason=
[STEP] step=0780 speed= 16.95km/h thr=0.15 brk=0.00 str=-0.05 safe=0 progress=75.9% goal=52.16m dL=0.06 ttc=1.41s tl=None credit=0 reason=
[STEP] step=0800 speed= 17.44km/h thr=0.25 brk=0.00 str=-0.00 safe=0 progress=78.1% goal=47.42m dL=0.07 ttc=4.39s tl=None credit=0 reason=
[STEP] step=0820 speed= 17.65km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=80.3% goal=42.51m dL=0.09 ttc=3.94s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.03km/h thr=0.27 brk=0.00 str=+0.01 safe=0 progress=82.6% goal=37.59m dL=0.13 ttc=3.24s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.06km/h thr=0.35 brk=0.00 str=-0.00 safe=0 progress=84.9% goal=32.59m dL=0.14 ttc=2.55s tl=None credit=0 reason=
[STEP] step=0880 speed= 17.94km/h thr=0.23 brk=0.00 str=-0.09 safe=0 progress=87.3% goal=27.57m dL=0.14 ttc=4.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 17.98km/h thr=0.31 brk=0.00 str=-0.00 safe=0 progress=89.6% goal=22.54m dL=0.14 ttc=23.17s tl=None credit=0 reason=
[STEP] step=0920 speed= 18.20km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=91.9% goal=17.49m dL=0.15 ttc=22.72s tl=None credit=0 reason=
[STEP] step=0938 speed= 18.43km/h thr=0.35 brk=0.00 str=-0.02 safe=0 progress=94.0% goal=12.94m dL=0.14 ttc=22.20s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=08 R=-113.56 steps=938 success=1 progress=94.0% DS=94.02 intv=0.027 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 248 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=50.38s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=17.52s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.40km/h thr=0.00 brk=0.45 str=-0.08 safe=0 progress=2.9% goal=210.03m dL=0.03 ttc=18.39s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.57 str=+0.07 safe=0 progress=3.7% goal=208.33m dL=0.03 ttc=12.78s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.91km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=3.8% goal=208.11m dL=0.02 ttc=12.89s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.88km/h thr=0.18 brk=0.00 str=-0.01 safe=0 progress=5.5% goal=204.48m dL=0.01 ttc=14.02s tl=None credit=0 reason=
[STEP] step=0140 speed=  9.58km/h thr=0.00 brk=0.21 str=+0.08 safe=0 progress=7.3% goal=200.60m dL=0.01 ttc=12.17s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.53 str=+0.00 safe=0 progress=7.7% goal=199.70m dL=0.01 ttc=8.38s tl=None credit=0 reason=
[STEP] step=0180 speed=  9.29km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=8.0% goal=198.99m dL=0.01 ttc=6.21s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.05km/h thr=0.06 brk=0.00 str=+0.01 safe=0 progress=10.0% goal=194.65m dL=0.04 ttc=4.15s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.01km/h thr=0.18 brk=0.00 str=-0.04 safe=0 progress=12.1% goal=190.14m dL=0.06 ttc=3.02s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.24km/h thr=0.31 brk=0.00 str=-0.03 safe=0 progress=14.2% goal=185.52m dL=0.04 ttc=2.64s tl=None credit=0 reason=
[STEP] step=0260 speed= 17.03km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=16.5% goal=180.71m dL=0.11 ttc=3.24s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.45km/h thr=0.19 brk=0.00 str=+0.03 safe=0 progress=18.6% goal=176.09m dL=0.13 ttc=2.35s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.20km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=20.7% goal=171.54m dL=0.13 ttc=1.69s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.09km/h thr=0.20 brk=0.00 str=+0.04 safe=0 progress=22.8% goal=167.04m dL=0.13 ttc=1.77s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.22km/h thr=0.22 brk=0.00 str=+0.01 safe=0 progress=24.9% goal=162.54m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.01km/h thr=0.21 brk=0.00 str=-0.00 safe=0 progress=26.9% goal=158.07m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 16.02km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=29.0% goal=153.63m dL=0.18 ttc=358.93s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.46km/h thr=0.10 brk=0.00 str=+0.09 safe=0 progress=31.0% goal=149.22m dL=0.12 ttc=34.55s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.49km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=32.8% goal=145.30m dL=0.02 ttc=22.82s tl=None credit=0 reason=
[STEP] step=0440 speed= 12.83km/h thr=0.18 brk=0.00 str=-0.02 safe=0 progress=34.6% goal=141.56m dL=0.11 ttc=18.73s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.65km/h thr=0.11 brk=0.00 str=+0.15 safe=0 progress=36.3% goal=137.75m dL=0.13 ttc=16.78s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.62km/h thr=0.18 brk=0.00 str=-0.07 safe=0 progress=38.1% goal=133.99m dL=0.05 ttc=15.30s tl=None credit=0 reason=
[STEP] step=0500 speed= 12.85km/h thr=0.00 brk=0.08 str=+0.06 safe=0 progress=39.8% goal=130.26m dL=0.09 ttc=13.85s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.38 str=-0.10 safe=0 progress=40.7% goal=128.22m dL=0.03 ttc=10.13s tl=None credit=0 reason=
[STEP] step=0540 speed=  3.17km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=40.8% goal=128.12m dL=0.02 ttc=9.62s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.04km/h thr=0.30 brk=0.00 str=-0.09 safe=0 progress=42.2% goal=125.04m dL=0.01 ttc=12.04s tl=None credit=0 reason=
[STEP] step=0580 speed=  8.98km/h thr=0.00 brk=0.35 str=-0.15 safe=0 progress=43.9% goal=121.38m dL=0.13 ttc=8.36s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.16 safe=0 progress=44.2% goal=120.75m dL=0.12 ttc=5.78s tl=None credit=0 reason=
[STEP] step=0620 speed= 11.16km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=44.6% goal=119.76m dL=0.06 ttc=5.09s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.82km/h thr=0.00 brk=0.35 str=-0.07 safe=0 progress=46.5% goal=115.66m dL=0.09 ttc=3.85s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.10 safe=0 progress=47.6% goal=113.30m dL=0.15 ttc=2.32s tl=None credit=0 reason=
[STEP] step=0680 speed=  1.67km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=47.6% goal=113.27m dL=0.15 ttc=1.73s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.62km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=48.9% goal=110.57m dL=0.00 ttc=106.68s tl=None credit=0 reason=
[STEP] step=0720 speed= 13.26km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=50.8% goal=106.48m dL=0.11 ttc=117.29s tl=None credit=0 reason=
[STEP] step=0740 speed= 10.31km/h thr=0.10 brk=0.00 str=-0.09 safe=0 progress=52.4% goal=103.06m dL=0.38 ttc=118.54s tl=None credit=0 reason=
[STEP] step=0760 speed= 12.76km/h thr=0.42 brk=0.00 str=-0.08 safe=0 progress=53.7% goal=100.20m dL=0.32 ttc=107.78s tl=None credit=0 reason=
[STEP] step=0780 speed= 13.59km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=55.4% goal=96.37m dL=0.31 ttc=113.10s tl=None credit=0 reason=
[STEP] step=0800 speed= 16.14km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=57.3% goal=92.30m dL=0.32 ttc=86.30s tl=None credit=0 reason=
[STEP] step=0820 speed= 15.94km/h thr=0.21 brk=0.00 str=-0.23 safe=0 progress=59.4% goal=87.85m dL=0.29 ttc=68.75s tl=None credit=0 reason=
[STEP] step=0840 speed= 18.93km/h thr=0.60 brk=0.00 str=+0.02 safe=0 progress=61.6% goal=83.08m dL=0.23 ttc=54.84s tl=None credit=0 reason=
[STEP] step=0860 speed= 21.38km/h thr=0.15 brk=0.00 str=+0.03 safe=0 progress=64.4% goal=77.00m dL=0.29 ttc=49.98s tl=None credit=0 reason=
[STEP] step=0880 speed= 19.95km/h thr=0.41 brk=0.00 str=-0.01 safe=0 progress=67.0% goal=71.48m dL=0.10 ttc=36.60s tl=None credit=0 reason=
[STEP] step=0900 speed= 21.62km/h thr=0.34 brk=0.00 str=-0.02 safe=0 progress=69.7% goal=65.61m dL=0.05 ttc=31.05s tl=None credit=0 reason=
[STEP] step=0920 speed= 21.70km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=72.5% goal=59.55m dL=0.06 ttc=29.08s tl=None credit=0 reason=
[STEP] step=0940 speed= 21.84km/h thr=0.34 brk=0.00 str=-0.00 safe=0 progress=75.3% goal=53.48m dL=0.09 ttc=23.50s tl=None credit=0 reason=
[STEP] step=0960 speed= 22.21km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=78.1% goal=47.33m dL=0.14 ttc=15.40s tl=None credit=0 reason=
[STEP] step=0980 speed= 23.10km/h thr=0.00 brk=0.08 str=+0.09 safe=0 progress=81.1% goal=40.92m dL=0.32 ttc=13.82s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.97km/h thr=0.54 brk=0.00 str=-0.05 safe=0 progress=83.5% goal=35.78m dL=0.42 ttc=14.82s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.10km/h thr=0.26 brk=0.00 str=-0.02 safe=0 progress=85.8% goal=30.74m dL=0.67 ttc=14.05s tl=None credit=0 reason=
[STEP] step=1040 speed= 17.86km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=88.1% goal=25.72m dL=0.74 ttc=13.23s tl=None credit=0 reason=
[STEP] step=1060 speed= 16.67km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=90.3% goal=20.95m dL=0.80 ttc=16.81s tl=None credit=0 reason=
[STEP] step=1080 speed= 16.94km/h thr=0.25 brk=0.00 str=-0.01 safe=0 progress=92.5% goal=16.28m dL=0.91 ttc=43.21s tl=None credit=0 reason=
[STEP] step=1095 speed= 17.23km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=94.1% goal=12.72m dL=1.00 ttc=41.93s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=09 R=-114.70 steps=1095 success=1 progress=94.1% DS=94.12 intv=0.137 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 265 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.02 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=40.66s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=52.17s tl=None credit=0 reason=
[STEP] step=0060 speed= 15.99km/h thr=0.48 brk=0.00 str=+0.09 safe=0 progress=3.0% goal=209.89m dL=0.10 ttc=36.01s tl=None credit=0 reason=
[STEP] step=0080 speed= 18.37km/h thr=0.38 brk=0.00 str=-0.00 safe=0 progress=5.3% goal=204.92m dL=0.10 ttc=32.55s tl=None credit=0 reason=
[STEP] step=0100 speed= 15.59km/h thr=0.00 brk=0.25 str=+0.02 safe=0 progress=7.5% goal=199.97m dL=0.07 ttc=44.89s tl=None credit=0 reason=
[STEP] step=0120 speed=  6.82km/h thr=0.00 brk=0.42 str=-0.01 safe=0 progress=9.0% goal=196.88m dL=0.03 ttc=40.30s tl=None credit=0 reason=
[STEP] step=0140 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.14 safe=1 progress=9.0% goal=196.80m dL=0.03 ttc=30.49s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.47km/h thr=0.54 brk=0.00 str=-0.00 safe=1 progress=9.9% goal=194.86m dL=0.00 ttc=67.17s tl=None credit=0 reason=
[STEP] step=0180 speed= 13.28km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=12.0% goal=190.33m dL=0.02 ttc=56.83s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.12 safe=0 progress=13.1% goal=188.06m dL=0.02 ttc=29.63s tl=None credit=0 reason=
[STEP] step=0220 speed=  1.53km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=13.1% goal=188.03m dL=0.02 ttc=30.84s tl=None credit=0 reason=
[STEP] step=0240 speed= 17.34km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=14.4% goal=185.20m dL=0.01 ttc=75.22s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.90km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=16.4% goal=180.85m dL=0.02 ttc=49.84s tl=None credit=0 reason=
[STEP] step=0280 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.11 safe=0 progress=17.2% goal=179.05m dL=0.01 ttc=28.39s tl=None credit=0 reason=
[STEP] step=0300 speed=  3.99km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=17.3% goal=178.91m dL=0.01 ttc=32.48s tl=None credit=0 reason=
[STEP] step=0320 speed= 17.83km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=18.9% goal=175.46m dL=0.01 ttc=71.29s tl=None credit=0 reason=
[STEP] step=0340 speed= 10.73km/h thr=0.00 brk=0.25 str=+0.01 safe=0 progress=20.8% goal=171.37m dL=0.01 ttc=43.69s tl=None credit=0 reason=
[STEP] step=0360 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.12 safe=0 progress=21.4% goal=170.08m dL=0.00 ttc=27.22s tl=None credit=0 reason=
[STEP] step=0380 speed=  6.63km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=21.5% goal=169.70m dL=0.00 ttc=35.36s tl=None credit=0 reason=
[STEP] step=0400 speed= 17.63km/h thr=0.00 brk=0.08 str=+0.03 safe=0 progress=23.4% goal=165.74m dL=0.03 ttc=66.77s tl=None credit=0 reason=
[STEP] step=0420 speed=  9.50km/h thr=0.00 brk=0.19 str=+0.03 safe=0 progress=25.1% goal=162.01m dL=0.01 ttc=40.70s tl=None credit=0 reason=
[STEP] step=0440 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.19 safe=0 progress=25.5% goal=161.15m dL=0.00 ttc=27.89s tl=None credit=0 reason=
[STEP] step=0460 speed=  9.42km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=25.8% goal=160.43m dL=0.00 ttc=27.44s tl=None credit=0 reason=
[STEP] step=0480 speed= 16.39km/h thr=0.00 brk=0.19 str=-0.07 safe=0 progress=27.8% goal=156.10m dL=0.02 ttc=21.96s tl=None credit=0 reason=
[STEP] step=0500 speed=  8.48km/h thr=0.00 brk=0.33 str=+0.00 safe=0 progress=29.4% goal=152.68m dL=0.01 ttc=14.67s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.12 safe=0 progress=29.7% goal=152.14m dL=0.01 ttc=10.94s tl=None credit=0 reason=
[STEP] step=0540 speed= 12.10km/h thr=0.66 brk=0.00 str=+0.06 safe=1 progress=30.2% goal=150.98m dL=0.00 ttc=10.74s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.61km/h thr=0.00 brk=0.32 str=+0.02 safe=0 progress=32.1% goal=146.79m dL=0.14 ttc=9.75s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.13 safe=0 progress=33.2% goal=144.50m dL=0.17 ttc=10.23s tl=None credit=0 reason=
[STEP] step=0600 speed=  1.54km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=33.2% goal=144.48m dL=0.17 ttc=12.32s tl=None credit=0 reason=
[STEP] step=0620 speed= 15.64km/h thr=0.42 brk=0.00 str=-0.03 safe=1 progress=34.5% goal=141.78m dL=0.03 ttc=17.29s tl=None credit=0 reason=
[STEP] step=0640 speed=  9.91km/h thr=0.00 brk=0.32 str=-0.04 safe=0 progress=36.2% goal=137.92m dL=0.14 ttc=13.06s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.16 safe=0 progress=36.6% goal=137.03m dL=0.13 ttc=9.44s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.32km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=37.0% goal=136.32m dL=0.10 ttc=10.67s tl=None credit=0 reason=
[STEP] step=0700 speed= 15.00km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=38.8% goal=132.31m dL=0.06 ttc=10.85s tl=None credit=0 reason=
[STEP] step=0720 speed=  1.27km/h thr=0.00 brk=0.38 str=-0.10 safe=0 progress=40.1% goal=129.46m dL=0.16 ttc=8.88s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=40.2% goal=129.45m dL=0.16 ttc=7.59s tl=None credit=0 reason=
[STEP] step=0760 speed= 14.73km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=41.1% goal=127.34m dL=0.04 ttc=10.95s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.34km/h thr=0.22 brk=0.00 str=-0.15 safe=0 progress=43.1% goal=123.02m dL=0.04 ttc=10.53s tl=None credit=0 reason=
[STEP] step=0800 speed= 14.03km/h thr=0.13 brk=0.00 str=-0.03 safe=0 progress=44.9% goal=119.12m dL=0.12 ttc=10.18s tl=None credit=0 reason=
[STEP] step=0820 speed= 13.51km/h thr=0.28 brk=0.00 str=-0.13 safe=0 progress=46.7% goal=115.28m dL=0.15 ttc=10.27s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.37km/h thr=0.15 brk=0.00 str=-0.09 safe=0 progress=48.5% goal=111.45m dL=0.17 ttc=11.66s tl=None credit=0 reason=
[STEP] step=0860 speed= 13.10km/h thr=0.42 brk=0.00 str=-0.09 safe=0 progress=50.2% goal=107.78m dL=0.19 ttc=14.46s tl=None credit=0 reason=
[STEP] step=0880 speed= 12.80km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=51.9% goal=103.99m dL=0.17 ttc=13.27s tl=None credit=0 reason=
[STEP] step=0900 speed= 13.63km/h thr=0.08 brk=0.00 str=-0.05 safe=0 progress=53.7% goal=100.17m dL=0.16 ttc=13.46s tl=None credit=0 reason=
[STEP] step=0920 speed= 13.93km/h thr=0.36 brk=0.00 str=-0.12 safe=0 progress=55.4% goal=96.44m dL=0.11 ttc=17.76s tl=None credit=0 reason=
[STEP] step=0940 speed= 13.97km/h thr=0.42 brk=0.00 str=-0.03 safe=0 progress=57.2% goal=92.48m dL=0.05 ttc=18.04s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.22km/h thr=0.24 brk=0.00 str=-0.06 safe=0 progress=59.3% goal=88.07m dL=0.05 ttc=26.77s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.38km/h thr=0.36 brk=0.00 str=-0.07 safe=0 progress=61.3% goal=83.62m dL=0.06 ttc=24.84s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.78km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=63.4% goal=79.16m dL=0.05 ttc=26.21s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.68km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=65.4% goal=74.73m dL=0.05 ttc=30.58s tl=None credit=0 reason=
[STEP] step=1040 speed= 17.30km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=67.6% goal=70.17m dL=0.09 ttc=27.57s tl=None credit=0 reason=
[STEP] step=1060 speed= 17.22km/h thr=0.24 brk=0.00 str=-0.04 safe=0 progress=69.7% goal=65.46m dL=0.12 ttc=25.47s tl=None credit=0 reason=
[STEP] step=1080 speed= 18.48km/h thr=0.48 brk=0.00 str=-0.01 safe=0 progress=72.0% goal=60.63m dL=0.15 ttc=20.45s tl=None credit=0 reason=
[STEP] step=1100 speed= 23.06km/h thr=0.34 brk=0.00 str=+0.03 safe=0 progress=74.6% goal=54.95m dL=0.26 ttc=19.40s tl=None credit=0 reason=
[STEP] step=1120 speed= 26.14km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=77.8% goal=47.97m dL=0.73 ttc=16.66s tl=None credit=0 reason=
[STEP] step=1140 speed= 25.96km/h thr=0.41 brk=0.00 str=-0.02 safe=0 progress=81.1% goal=40.78m dL=1.07 ttc=16.13s tl=None credit=0 reason=
[STEP] step=1160 speed= 25.99km/h thr=0.28 brk=0.00 str=+0.10 safe=0 progress=84.5% goal=33.57m dL=1.23 ttc=15.96s tl=None credit=0 reason=
[STEP] step=1180 speed=  8.39km/h thr=0.00 brk=0.09 str=-0.01 safe=0 progress=87.3% goal=27.47m dL=0.72 ttc=22.25s tl=None credit=0 reason=
[STEP] step=1200 speed= 14.39km/h thr=0.43 brk=0.00 str=-0.16 safe=0 progress=88.7% goal=24.44m dL=0.54 ttc=15.50s tl=None credit=0 reason=
[STEP] step=1220 speed= 17.99km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=90.8% goal=19.83m dL=0.86 ttc=19.02s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.50km/h thr=0.40 brk=0.00 str=-0.05 safe=0 progress=93.2% goal=14.80m dL=1.34 ttc=19.17s tl=None credit=0 reason=
[STEP] step=1248 speed= 18.12km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=94.1% goal=12.77m dL=1.54 ttc=19.74s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=10 R=-44.79 steps=1248 success=1 progress=94.1% DS=94.10 intv=0.200 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 278 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=8 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=77.94s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=23.33s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.21km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.9% goal=210.07m dL=0.05 ttc=19.12s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.16 safe=0 progress=3.7% goal=208.33m dL=0.05 ttc=23.22s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.86km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=3.8% goal=208.18m dL=0.05 ttc=24.95s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.76km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=5.3% goal=204.73m dL=0.01 ttc=19.01s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.60km/h thr=0.00 brk=0.29 str=-0.01 safe=0 progress=7.2% goal=200.65m dL=0.02 ttc=16.66s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.17 safe=0 progress=7.8% goal=199.49m dL=0.02 ttc=39.15s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.58km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=8.0% goal=199.01m dL=0.01 ttc=96.23s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.21km/h thr=0.00 brk=0.16 str=+0.01 safe=0 progress=9.9% goal=194.92m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.63km/h thr=0.00 brk=0.26 str=-0.06 safe=0 progress=11.5% goal=191.37m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.15 safe=0 progress=11.8% goal=190.78m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.26km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=12.3% goal=189.78m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.44km/h thr=0.00 brk=0.23 str=+0.01 safe=0 progress=14.3% goal=185.31m dL=0.04 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.35km/h thr=0.00 brk=0.30 str=+0.02 safe=0 progress=15.8% goal=182.19m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.12 safe=0 progress=15.9% goal=181.97m dL=0.02 ttc=113.26s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.90km/h thr=0.63 brk=0.00 str=+0.00 safe=1 progress=16.7% goal=180.23m dL=0.01 ttc=53.69s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.81km/h thr=0.00 brk=0.23 str=+0.00 safe=0 progress=18.8% goal=175.64m dL=0.03 ttc=60.84s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.17 safe=0 progress=20.0% goal=173.13m dL=0.00 ttc=65.34s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.93km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=20.0% goal=173.12m dL=0.00 ttc=69.13s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.2% goal=170.50m dL=0.01 ttc=70.36s tl=None credit=0 reason=
[STEP] step=0440 speed= 12.26km/h thr=0.00 brk=0.22 str=+0.03 safe=0 progress=23.2% goal=166.10m dL=0.02 ttc=46.73s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.10 safe=0 progress=24.1% goal=164.24m dL=0.00 ttc=32.93s tl=None credit=0 reason=
[STEP] step=0480 speed=  3.07km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=24.1% goal=164.14m dL=0.00 ttc=33.92s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.90km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=25.6% goal=160.89m dL=0.01 ttc=43.05s tl=None credit=0 reason=
[STEP] step=0520 speed= 11.62km/h thr=0.00 brk=0.13 str=+0.04 safe=0 progress=27.6% goal=156.64m dL=0.02 ttc=39.20s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.23 safe=0 progress=28.3% goal=155.07m dL=0.01 ttc=34.88s tl=None credit=0 reason=
[STEP] step=0560 speed=  4.91km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=28.4% goal=154.85m dL=0.01 ttc=46.86s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.95km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=30.0% goal=151.33m dL=0.02 ttc=38.33s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.82km/h thr=0.00 brk=0.34 str=-0.03 safe=0 progress=31.7% goal=147.69m dL=0.18 ttc=22.66s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.12 safe=0 progress=32.0% goal=147.09m dL=0.19 ttc=16.44s tl=None credit=0 reason=
[STEP] step=0640 speed= 11.32km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=32.5% goal=146.08m dL=0.12 ttc=12.20s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.93km/h thr=0.00 brk=0.32 str=-0.05 safe=0 progress=34.4% goal=141.95m dL=0.10 ttc=9.19s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=35.5% goal=139.57m dL=0.14 ttc=7.36s tl=None credit=0 reason=
[STEP] step=0700 speed=  1.55km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.5% goal=139.55m dL=0.14 ttc=6.34s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.59km/h thr=0.42 brk=0.00 str=-0.11 safe=1 progress=36.7% goal=136.84m dL=0.03 ttc=5.22s tl=None credit=0 reason=
[STEP] step=0740 speed=  9.93km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=38.5% goal=132.98m dL=0.17 ttc=4.29s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=38.9% goal=132.08m dL=0.17 ttc=3.37s tl=None credit=0 reason=
[STEP] step=0780 speed=  9.31km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=39.3% goal=131.37m dL=0.13 ttc=2.36s tl=None credit=0 reason=
[STEP] step=0800 speed= 18.12km/h thr=0.44 brk=0.00 str=-0.10 safe=0 progress=41.2% goal=127.23m dL=0.04 ttc=1.67s tl=None credit=0 reason=
[STEP] step=0820 speed= 19.86km/h thr=0.39 brk=0.00 str=-0.06 safe=0 progress=43.6% goal=122.03m dL=0.22 ttc=13.67s tl=None credit=0 reason=
[STEP] step=0840 speed= 22.48km/h thr=0.45 brk=0.00 str=-0.03 safe=0 progress=46.3% goal=116.18m dL=0.26 ttc=51.86s tl=None credit=0 reason=
[STEP] step=0860 speed= 24.20km/h thr=0.30 brk=0.00 str=-0.14 safe=0 progress=49.3% goal=109.67m dL=0.22 ttc=47.62s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.17 safe=0 progress=51.2% goal=105.57m dL=0.25 ttc=56.23s tl=None credit=0 reason=
[STEP] step=0900 speed=  3.22km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.2% goal=105.47m dL=0.24 ttc=59.35s tl=None credit=0 reason=
[STEP] step=0920 speed= 16.22km/h thr=0.30 brk=0.00 str=+0.04 safe=0 progress=52.7% goal=102.38m dL=0.08 ttc=64.77s tl=None credit=0 reason=
[STEP] step=0940 speed=  8.69km/h thr=0.00 brk=0.40 str=-0.16 safe=0 progress=54.4% goal=98.72m dL=0.20 ttc=71.94s tl=None credit=0 reason=
[STEP] step=0960 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.17 safe=0 progress=54.6% goal=98.21m dL=0.18 ttc=128.08s tl=None credit=0 reason=
[STEP] step=0980 speed= 12.12km/h thr=0.67 brk=0.00 str=-0.16 safe=1 progress=55.1% goal=97.05m dL=0.10 ttc=86.52s tl=None credit=0 reason=
[STEP] step=1000 speed= 13.40km/h thr=0.00 brk=0.39 str=-0.08 safe=0 progress=57.1% goal=92.90m dL=0.17 ttc=107.99s tl=None credit=0 reason=
[STEP] step=1020 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.18 safe=0 progress=58.0% goal=90.95m dL=0.16 ttc=129.18s tl=None credit=0 reason=
[STEP] step=1040 speed=  3.96km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=58.0% goal=90.79m dL=0.16 ttc=144.94s tl=None credit=0 reason=
[STEP] step=1060 speed= 17.98km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=59.6% goal=87.34m dL=0.06 ttc=55.73s tl=None credit=0 reason=
[STEP] step=1080 speed= 18.15km/h thr=0.43 brk=0.00 str=-0.02 safe=0 progress=61.9% goal=82.43m dL=0.12 ttc=49.84s tl=None credit=0 reason=
[STEP] step=1100 speed= 22.51km/h thr=0.38 brk=0.00 str=+0.04 safe=0 progress=64.5% goal=76.69m dL=0.15 ttc=41.59s tl=None credit=0 reason=
[STEP] step=1120 speed= 23.10km/h thr=0.33 brk=0.00 str=-0.00 safe=0 progress=67.5% goal=70.26m dL=0.06 ttc=39.01s tl=None credit=0 reason=
[STEP] step=1140 speed= 23.44km/h thr=0.37 brk=0.00 str=+0.03 safe=0 progress=70.5% goal=63.80m dL=0.12 ttc=38.38s tl=None credit=0 reason=
[STEP] step=1160 speed= 23.67km/h thr=0.36 brk=0.00 str=-0.00 safe=0 progress=73.6% goal=57.19m dL=0.13 ttc=37.51s tl=None credit=0 reason=
[STEP] step=1180 speed= 21.37km/h thr=0.00 brk=0.40 str=+0.01 safe=0 progress=76.6% goal=50.58m dL=0.26 ttc=42.37s tl=None credit=0 reason=
[STEP] step=1200 speed= 18.19km/h thr=0.62 brk=0.00 str=-0.00 safe=0 progress=78.9% goal=45.54m dL=0.49 ttc=46.03s tl=None credit=0 reason=
[STEP] step=1220 speed= 19.10km/h thr=0.29 brk=0.00 str=+0.07 safe=0 progress=81.4% goal=40.23m dL=0.71 ttc=48.18s tl=None credit=0 reason=
[STEP] step=1240 speed= 17.91km/h thr=0.28 brk=0.00 str=-0.02 safe=0 progress=83.8% goal=35.13m dL=0.79 ttc=50.43s tl=None credit=0 reason=
[STEP] step=1260 speed= 18.12km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=86.1% goal=30.10m dL=0.91 ttc=50.52s tl=None credit=0 reason=
[STEP] step=1280 speed= 17.86km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=88.4% goal=25.08m dL=0.99 ttc=38.75s tl=None credit=0 reason=
[STEP] step=1300 speed= 17.99km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=90.7% goal=20.07m dL=1.05 ttc=31.34s tl=None credit=0 reason=
[STEP] step=1320 speed= 17.99km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=93.0% goal=15.06m dL=1.14 ttc=28.84s tl=None credit=0 reason=
[STEP] step=1329 speed= 18.26km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=94.1% goal=12.79m dL=1.19 ttc=26.21s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=11 R=-8.43 steps=1329 success=1 progress=94.1% DS=94.09 intv=0.263 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 288 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=+0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=23.37s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.33km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=6.31s tl=None credit=0 reason=
[STEP] step=0060 speed= 17.18km/h thr=0.22 brk=0.00 str=+0.06 safe=0 progress=3.1% goal=209.62m dL=0.12 ttc=5.15s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.74km/h thr=0.20 brk=0.00 str=-0.03 safe=0 progress=5.3% goal=204.88m dL=0.18 ttc=5.02s tl=None credit=0 reason=
[STEP] step=0100 speed= 15.79km/h thr=0.00 brk=0.08 str=+0.04 safe=0 progress=7.4% goal=200.37m dL=0.17 ttc=31.35s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.16km/h thr=0.09 brk=0.00 str=-0.02 safe=0 progress=9.4% goal=195.95m dL=0.21 ttc=49.94s tl=None credit=0 reason=
[STEP] step=0140 speed= 15.48km/h thr=0.37 brk=0.00 str=-0.03 safe=0 progress=11.5% goal=191.51m dL=0.24 ttc=56.12s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.09km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=13.5% goal=187.01m dL=0.28 ttc=39.46s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.62km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=15.6% goal=182.52m dL=0.21 ttc=24.95s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.80km/h thr=0.11 brk=0.00 str=+0.04 safe=0 progress=17.8% goal=177.82m dL=0.06 ttc=42.12s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.80km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=19.9% goal=173.20m dL=0.03 ttc=54.76s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.78km/h thr=0.20 brk=0.00 str=-0.02 safe=0 progress=22.0% goal=168.64m dL=0.05 ttc=56.07s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.25km/h thr=0.22 brk=0.00 str=-0.01 safe=0 progress=24.1% goal=164.08m dL=0.03 ttc=52.26s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.40km/h thr=0.26 brk=0.00 str=+0.05 safe=0 progress=26.2% goal=159.57m dL=0.01 ttc=54.68s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.33km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=28.4% goal=154.78m dL=0.03 ttc=89.21s tl=None credit=0 reason=
[STEP] step=0320 speed= 10.36km/h thr=0.00 brk=0.34 str=+0.05 safe=0 progress=30.3% goal=150.80m dL=0.01 ttc=62.86s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.14 safe=0 progress=30.8% goal=149.74m dL=0.06 ttc=36.56s tl=None credit=0 reason=
[STEP] step=0360 speed=  8.54km/h thr=0.75 brk=0.00 str=-0.07 safe=1 progress=31.0% goal=149.15m dL=0.05 ttc=76.76s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.47km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=32.9% goal=145.20m dL=0.08 ttc=75.68s tl=None credit=0 reason=
[STEP] step=0400 speed=  5.34km/h thr=0.00 brk=0.35 str=-0.14 safe=0 progress=34.3% goal=142.18m dL=0.16 ttc=168.13s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.13km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=34.3% goal=142.15m dL=0.16 ttc=100.67s tl=None credit=0 reason=
[STEP] step=0440 speed= 14.72km/h thr=0.42 brk=0.00 str=+0.17 safe=1 progress=35.2% goal=140.05m dL=0.01 ttc=201.09s tl=None credit=0 reason=
[STEP] step=0460 speed= 11.28km/h thr=0.00 brk=0.31 str=-0.04 safe=0 progress=37.1% goal=135.98m dL=0.12 ttc=86.95s tl=None credit=0 reason=
[STEP] step=0480 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.16 safe=0 progress=37.8% goal=134.59m dL=0.12 ttc=44.64s tl=None credit=0 reason=
[STEP] step=0500 speed=  5.75km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=37.9% goal=134.30m dL=0.11 ttc=53.82s tl=None credit=0 reason=
[STEP] step=0520 speed= 16.29km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=39.6% goal=130.74m dL=0.02 ttc=88.09s tl=None credit=0 reason=
[STEP] step=0540 speed=  7.98km/h thr=0.00 brk=0.35 str=-0.09 safe=0 progress=41.1% goal=127.37m dL=0.15 ttc=55.59s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.21 safe=0 progress=41.3% goal=127.02m dL=0.16 ttc=55.48s tl=None credit=0 reason=
[STEP] step=0580 speed= 12.89km/h thr=0.52 brk=0.00 str=-0.08 safe=1 progress=41.9% goal=125.68m dL=0.07 ttc=89.67s tl=None credit=0 reason=
[STEP] step=0600 speed= 12.94km/h thr=0.00 brk=0.35 str=-0.07 safe=0 progress=43.8% goal=121.52m dL=0.10 ttc=69.60s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.12 safe=0 progress=44.7% goal=119.54m dL=0.14 ttc=55.83s tl=None credit=0 reason=
[STEP] step=0640 speed=  3.20km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=44.8% goal=119.44m dL=0.13 ttc=63.24s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.02km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=46.2% goal=116.38m dL=0.03 ttc=88.24s tl=None credit=0 reason=
[STEP] step=0680 speed=  8.81km/h thr=0.00 brk=0.35 str=-0.12 safe=0 progress=47.9% goal=112.75m dL=0.15 ttc=53.80s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.14 safe=0 progress=48.1% goal=112.16m dL=0.14 ttc=34.88s tl=None credit=0 reason=
[STEP] step=0720 speed= 11.25km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=48.6% goal=111.16m dL=0.08 ttc=37.18s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.89km/h thr=0.00 brk=0.36 str=-0.09 safe=0 progress=50.5% goal=107.05m dL=0.12 ttc=36.95s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=51.6% goal=104.75m dL=0.14 ttc=35.56s tl=None credit=0 reason=
[STEP] step=0780 speed=  1.64km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.6% goal=104.72m dL=0.14 ttc=38.43s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.53km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=52.8% goal=102.02m dL=0.03 ttc=59.68s tl=None credit=0 reason=
[STEP] step=0820 speed=  9.60km/h thr=0.00 brk=0.34 str=-0.08 safe=0 progress=54.6% goal=98.20m dL=0.14 ttc=39.18s tl=None credit=0 reason=
[STEP] step=0840 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.19 safe=0 progress=55.0% goal=97.41m dL=0.15 ttc=32.65s tl=None credit=0 reason=
[STEP] step=0860 speed= 10.27km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.4% goal=96.55m dL=0.10 ttc=32.16s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.00km/h thr=0.17 brk=0.00 str=-0.00 safe=0 progress=57.3% goal=92.38m dL=0.11 ttc=30.95s tl=None credit=0 reason=
[STEP] step=0900 speed=  7.66km/h thr=0.00 brk=0.42 str=-0.18 safe=0 progress=58.9% goal=89.00m dL=0.16 ttc=31.28s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=59.0% goal=88.79m dL=0.14 ttc=36.69s tl=None credit=0 reason=
[STEP] step=0940 speed= 14.81km/h thr=0.64 brk=0.00 str=-0.08 safe=1 progress=59.7% goal=87.06m dL=0.00 ttc=25.90s tl=None credit=0 reason=
[STEP] step=0960 speed= 19.13km/h thr=0.41 brk=0.00 str=-0.01 safe=0 progress=62.0% goal=82.09m dL=0.07 ttc=22.62s tl=None credit=0 reason=
[STEP] step=0980 speed= 21.24km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=64.7% goal=76.34m dL=0.04 ttc=20.40s tl=None credit=0 reason=
[STEP] step=1000 speed= 21.93km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=67.5% goal=70.28m dL=0.04 ttc=18.84s tl=None credit=0 reason=
[STEP] step=1020 speed= 22.04km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=70.4% goal=64.11m dL=0.05 ttc=17.31s tl=None credit=0 reason=
[STEP] step=1040 speed= 21.87km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=73.2% goal=57.98m dL=0.08 ttc=15.89s tl=None credit=0 reason=
[STEP] step=1060 speed= 22.16km/h thr=0.35 brk=0.00 str=-0.01 safe=0 progress=76.0% goal=51.82m dL=0.11 ttc=14.79s tl=None credit=0 reason=
[STEP] step=1080 speed= 23.18km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=79.0% goal=45.53m dL=0.26 ttc=11.94s tl=None credit=0 reason=
[STEP] step=1100 speed= 17.02km/h thr=0.00 brk=0.11 str=+0.02 safe=0 progress=81.7% goal=39.56m dL=0.32 ttc=10.03s tl=None credit=0 reason=
[STEP] step=1120 speed= 18.25km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=83.9% goal=34.79m dL=0.61 ttc=7.77s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.02km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=86.3% goal=29.73m dL=0.77 ttc=6.33s tl=None credit=0 reason=
[STEP] step=1160 speed= 17.24km/h thr=0.19 brk=0.00 str=-0.06 safe=0 progress=88.5% goal=24.77m dL=0.76 ttc=5.21s tl=None credit=0 reason=
[STEP] step=1180 speed= 16.80km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=90.7% goal=20.08m dL=0.86 ttc=4.42s tl=None credit=0 reason=
[STEP] step=1200 speed= 17.30km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=92.9% goal=15.34m dL=0.98 ttc=3.82s tl=None credit=0 reason=
[STEP] step=1210 speed= 17.62km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=94.0% goal=12.92m dL=1.04 ttc=3.50s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=12 R=-60.74 steps=1210 success=1 progress=94.0% DS=94.03 intv=0.207 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 Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=12 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=38.26s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=19.16s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.42km/h thr=0.00 brk=0.26 str=-0.01 safe=0 progress=2.9% goal=210.05m dL=0.08 ttc=16.90s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.21 safe=0 progress=3.7% goal=208.21m dL=0.12 ttc=11.54s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.24km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=3.8% goal=208.11m dL=0.11 ttc=15.37s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.48km/h thr=0.24 brk=0.00 str=-0.12 safe=0 progress=5.3% goal=204.87m dL=0.01 ttc=25.68s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.57km/h thr=0.00 brk=0.26 str=-0.02 safe=0 progress=7.1% goal=200.84m dL=0.05 ttc=29.13s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.46 str=-0.22 safe=0 progress=7.7% goal=199.65m dL=0.07 ttc=26.18s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.54km/h thr=0.75 brk=0.00 str=-0.05 safe=1 progress=7.9% goal=199.17m dL=0.05 ttc=57.04s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.20km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=9.8% goal=195.09m dL=0.03 ttc=76.01s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.72km/h thr=0.00 brk=0.34 str=+0.01 safe=0 progress=11.5% goal=191.53m dL=0.04 ttc=64.26s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.19 safe=0 progress=11.7% goal=190.94m dL=0.04 ttc=41.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.15km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=12.2% goal=189.94m dL=0.02 ttc=39.27s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.55km/h thr=0.00 brk=0.16 str=-0.08 safe=0 progress=14.3% goal=185.45m dL=0.03 ttc=45.28s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.69km/h thr=0.00 brk=0.32 str=-0.01 safe=0 progress=15.7% goal=182.26m dL=0.02 ttc=27.31s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.17 safe=0 progress=15.9% goal=181.94m dL=0.01 ttc=19.48s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.03km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=16.6% goal=180.40m dL=0.01 ttc=14.55s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.32km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=18.7% goal=175.80m dL=0.02 ttc=11.15s tl=None credit=0 reason=
[STEP] step=0380 speed=  1.18km/h thr=0.00 brk=0.32 str=-0.01 safe=0 progress=20.0% goal=173.00m dL=0.00 ttc=9.13s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=20.0% goal=173.00m dL=0.00 ttc=7.67s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.10km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=21.0% goal=170.83m dL=0.01 ttc=6.21s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.00km/h thr=0.00 brk=0.23 str=-0.01 safe=0 progress=23.1% goal=166.32m dL=0.01 ttc=5.06s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.12 safe=0 progress=24.1% goal=164.08m dL=0.00 ttc=3.99s tl=None credit=0 reason=
[STEP] step=0480 speed=  1.65km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=24.2% goal=164.05m dL=0.00 ttc=2.93s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.24km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=25.5% goal=161.21m dL=0.00 ttc=1.82s tl=None credit=0 reason=
[STEP] step=0520 speed= 21.16km/h thr=0.66 brk=0.00 str=+0.02 safe=0 progress=27.9% goal=155.93m dL=0.12 ttc=1.02s tl=None credit=0 reason=
[STEP] step=0540 speed= 27.58km/h thr=0.49 brk=0.00 str=+0.01 safe=0 progress=31.1% goal=149.02m dL=0.10 ttc=0.12s tl=None credit=0 reason=
[STEP] step=0560 speed= 27.58km/h thr=0.28 brk=0.00 str=-0.10 safe=0 progress=34.7% goal=141.35m dL=0.29 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0580 speed= 26.20km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=38.0% goal=134.10m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 21.76km/h thr=0.00 brk=0.52 str=-0.08 safe=0 progress=41.2% goal=127.15m dL=0.17 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.11 safe=0 progress=41.6% goal=126.23m dL=0.17 ttc=188.71s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.22km/h thr=0.63 brk=0.00 str=-0.11 safe=1 progress=42.2% goal=125.06m dL=0.08 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.34km/h thr=0.00 brk=0.35 str=-0.07 safe=0 progress=44.1% goal=120.93m dL=0.11 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0680 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.16 safe=0 progress=45.1% goal=118.82m dL=0.14 ttc=180.73s tl=None credit=0 reason=
[STEP] step=0700 speed=  2.46km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=45.1% goal=118.76m dL=0.14 ttc=172.81s tl=None credit=0 reason=
[STEP] step=0720 speed= 15.79km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=46.4% goal=115.87m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed=  9.26km/h thr=0.00 brk=0.33 str=-0.15 safe=0 progress=48.2% goal=112.13m dL=0.16 ttc=67.07s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.17 safe=0 progress=48.5% goal=111.45m dL=0.15 ttc=65.28s tl=None credit=0 reason=
[STEP] step=0780 speed= 11.15km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.9% goal=110.46m dL=0.08 ttc=47.53s tl=None credit=0 reason=
[STEP] step=0800 speed= 13.83km/h thr=0.00 brk=0.37 str=-0.06 safe=0 progress=50.8% goal=106.36m dL=0.11 ttc=45.93s tl=None credit=0 reason=
[STEP] step=0820 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.20 safe=0 progress=51.9% goal=104.08m dL=0.16 ttc=18.08s tl=None credit=0 reason=
[STEP] step=0840 speed=  1.52km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=51.9% goal=104.04m dL=0.15 ttc=15.89s tl=None credit=0 reason=
[STEP] step=0860 speed= 15.62km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=53.1% goal=101.35m dL=0.00 ttc=24.46s tl=None credit=0 reason=
[STEP] step=0880 speed=  9.56km/h thr=0.00 brk=0.37 str=-0.07 safe=0 progress=54.9% goal=97.53m dL=0.12 ttc=26.71s tl=None credit=0 reason=
[STEP] step=0900 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.20 safe=0 progress=55.3% goal=96.76m dL=0.13 ttc=22.81s tl=None credit=0 reason=
[STEP] step=0920 speed= 10.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.7% goal=95.91m dL=0.07 ttc=27.27s tl=None credit=0 reason=
[STEP] step=0940 speed= 15.95km/h thr=0.00 brk=0.16 str=-0.10 safe=0 progress=57.6% goal=91.69m dL=0.15 ttc=24.82s tl=None credit=0 reason=
[STEP] step=0960 speed=  1.55km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=59.0% goal=88.68m dL=0.13 ttc=31.55s tl=None credit=0 reason=
[STEP] step=0980 speed=  0.26km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=59.0% goal=88.67m dL=0.13 ttc=31.92s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.09km/h thr=0.44 brk=0.00 str=-0.04 safe=1 progress=60.0% goal=86.52m dL=0.04 ttc=21.67s tl=None credit=0 reason=
[STEP] step=1020 speed= 19.80km/h thr=0.40 brk=0.00 str=-0.00 safe=0 progress=62.3% goal=81.46m dL=0.09 ttc=19.30s tl=None credit=0 reason=
[STEP] step=1040 speed= 21.94km/h thr=0.35 brk=0.00 str=-0.00 safe=0 progress=65.0% goal=75.63m dL=0.05 ttc=19.28s tl=None credit=0 reason=
[STEP] step=1060 speed= 22.34km/h thr=0.34 brk=0.00 str=+0.00 safe=0 progress=67.9% goal=69.51m dL=0.06 ttc=17.85s tl=None credit=0 reason=
[STEP] step=1080 speed= 22.55km/h thr=0.35 brk=0.00 str=+0.01 safe=0 progress=70.7% goal=63.33m dL=0.08 ttc=13.62s tl=None credit=0 reason=
[STEP] step=1100 speed= 22.97km/h thr=0.35 brk=0.00 str=+0.00 safe=0 progress=73.6% goal=57.05m dL=0.09 ttc=10.00s tl=None credit=0 reason=
[STEP] step=1120 speed= 23.58km/h thr=0.37 brk=0.00 str=-0.01 safe=0 progress=76.6% goal=50.62m dL=0.13 ttc=8.83s tl=None credit=0 reason=
[STEP] step=1140 speed= 24.55km/h thr=0.39 brk=0.00 str=-0.01 safe=0 progress=79.7% goal=44.00m dL=0.28 ttc=7.13s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.58km/h thr=0.12 brk=0.00 str=-0.02 safe=0 progress=82.6% goal=37.67m dL=0.40 ttc=5.78s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.03km/h thr=0.29 brk=0.00 str=-0.03 safe=0 progress=84.9% goal=32.63m dL=0.67 ttc=4.70s tl=None credit=0 reason=
[STEP] step=1200 speed= 18.20km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=87.2% goal=27.58m dL=0.83 ttc=4.01s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.06km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=89.6% goal=22.57m dL=0.92 ttc=3.24s tl=None credit=0 reason=
[STEP] step=1240 speed= 17.60km/h thr=0.19 brk=0.00 str=-0.00 safe=0 progress=91.9% goal=17.58m dL=1.02 ttc=3.46s tl=None credit=0 reason=
[STEP] step=1260 speed= 16.85km/h thr=0.29 brk=0.00 str=+0.01 safe=0 progress=94.0% goal=12.91m dL=1.14 ttc=26.07s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=13 R=6.52 steps=1260 success=1 progress=94.0% DS=94.03 intv=0.258 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 318 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=8 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=87.81s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=49.66s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.18km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.9% goal=210.08m dL=0.04 ttc=9.24s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.02 safe=0 progress=3.7% goal=208.37m dL=0.04 ttc=6.04s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.05km/h thr=0.75 brk=0.00 str=-0.03 safe=1 progress=3.7% goal=208.22m dL=0.03 ttc=6.10s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.65km/h thr=0.25 brk=0.00 str=+0.02 safe=0 progress=5.3% goal=204.76m dL=0.01 ttc=5.33s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.66km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=7.6% goal=199.92m dL=0.06 ttc=5.50s tl=None credit=0 reason=
[STEP] step=0160 speed= 16.54km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=9.7% goal=195.41m dL=0.03 ttc=5.76s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.66km/h thr=0.17 brk=0.00 str=-0.12 safe=0 progress=11.8% goal=190.77m dL=0.02 ttc=16.10s tl=None credit=0 reason=
[STEP] step=0200 speed= 15.84km/h thr=0.17 brk=0.00 str=+0.04 safe=0 progress=13.9% goal=186.27m dL=0.16 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.77km/h thr=0.28 brk=0.00 str=+0.07 safe=0 progress=16.0% goal=181.79m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.34km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=18.0% goal=177.29m dL=0.18 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.60km/h thr=0.26 brk=0.00 str=+0.00 safe=0 progress=20.1% goal=172.77m dL=0.14 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed= 17.01km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=22.3% goal=168.12m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 18.10km/h thr=0.37 brk=0.00 str=+0.01 safe=0 progress=24.6% goal=163.19m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 18.60km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=26.9% goal=158.04m dL=0.07 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed= 18.27km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=29.3% goal=152.92m dL=0.06 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed= 17.84km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=31.6% goal=147.88m dL=0.09 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0380 speed= 13.48km/h thr=0.20 brk=0.00 str=-0.05 safe=0 progress=33.5% goal=143.78m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0400 speed= 13.39km/h thr=0.20 brk=0.00 str=-0.01 safe=0 progress=35.2% goal=140.06m dL=0.20 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.37km/h thr=0.21 brk=0.00 str=-0.06 safe=0 progress=37.0% goal=136.37m dL=0.26 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.35km/h thr=0.21 brk=0.00 str=-0.05 safe=0 progress=38.7% goal=132.68m dL=0.28 ttc=517.03s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.34km/h thr=0.21 brk=0.00 str=-0.04 safe=0 progress=40.4% goal=129.01m dL=0.31 ttc=63.99s tl=None credit=0 reason=
[STEP] step=0480 speed= 13.32km/h thr=0.20 brk=0.00 str=-0.07 safe=0 progress=42.1% goal=125.34m dL=0.32 ttc=63.59s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.24km/h thr=0.21 brk=0.00 str=-0.05 safe=0 progress=43.7% goal=121.67m dL=0.34 ttc=65.20s tl=None credit=0 reason=
[STEP] step=0520 speed= 13.25km/h thr=0.21 brk=0.00 str=-0.03 safe=0 progress=45.4% goal=118.03m dL=0.36 ttc=68.95s tl=None credit=0 reason=
[STEP] step=0540 speed= 13.23km/h thr=0.21 brk=0.00 str=-0.04 safe=0 progress=47.1% goal=114.38m dL=0.37 ttc=87.57s tl=None credit=0 reason=
[STEP] step=0560 speed= 13.23km/h thr=0.20 brk=0.00 str=-0.11 safe=0 progress=48.8% goal=110.74m dL=0.42 ttc=108.77s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.08 safe=0 progress=50.5% goal=107.12m dL=0.44 ttc=135.00s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.25km/h thr=0.20 brk=0.00 str=-0.11 safe=0 progress=52.2% goal=103.46m dL=0.46 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.26km/h thr=0.20 brk=0.00 str=-0.06 safe=0 progress=53.8% goal=99.84m dL=0.47 ttc=903.94s tl=None credit=0 reason=
[STEP] step=0640 speed= 13.83km/h thr=0.30 brk=0.00 str=-0.08 safe=0 progress=55.6% goal=96.10m dL=0.46 ttc=456.31s tl=None credit=0 reason=
[STEP] step=0660 speed= 16.03km/h thr=0.20 brk=0.00 str=-0.01 safe=0 progress=57.5% goal=91.93m dL=0.47 ttc=117.91s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.00km/h thr=0.00 brk=0.08 str=-0.20 safe=0 progress=59.5% goal=87.53m dL=0.36 ttc=76.66s tl=None credit=0 reason=
[STEP] step=0700 speed= 19.18km/h thr=0.42 brk=0.00 str=+0.12 safe=0 progress=61.7% goal=82.90m dL=0.30 ttc=53.20s tl=None credit=0 reason=
[STEP] step=0720 speed= 22.47km/h thr=0.10 brk=0.00 str=+0.06 safe=0 progress=64.4% goal=76.95m dL=0.35 ttc=38.50s tl=None credit=0 reason=
[STEP] step=0740 speed= 18.96km/h thr=0.39 brk=0.00 str=-0.04 safe=0 progress=67.0% goal=71.40m dL=0.16 ttc=22.48s tl=None credit=0 reason=
[STEP] step=0760 speed= 21.31km/h thr=0.27 brk=0.00 str=+0.03 safe=0 progress=69.6% goal=65.78m dL=0.31 ttc=20.93s tl=None credit=0 reason=
[STEP] step=0780 speed= 18.13km/h thr=0.27 brk=0.00 str=-0.09 safe=0 progress=72.1% goal=60.38m dL=0.24 ttc=19.90s tl=None credit=0 reason=
[STEP] step=0800 speed= 20.00km/h thr=0.55 brk=0.00 str=-0.06 safe=0 progress=74.5% goal=55.26m dL=0.47 ttc=19.61s tl=None credit=0 reason=
[STEP] step=0820 speed= 18.62km/h thr=0.10 brk=0.00 str=+0.01 safe=0 progress=77.1% goal=49.56m dL=0.51 ttc=23.67s tl=None credit=0 reason=
[STEP] step=0840 speed= 16.11km/h thr=0.44 brk=0.00 str=-0.09 safe=0 progress=79.3% goal=44.83m dL=0.48 ttc=25.07s tl=None credit=0 reason=
[STEP] step=0860 speed= 18.34km/h thr=0.34 brk=0.00 str=+0.06 safe=0 progress=81.6% goal=39.88m dL=0.76 ttc=38.58s tl=None credit=0 reason=
[STEP] step=0880 speed= 18.07km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=83.9% goal=34.82m dL=0.89 ttc=128.80s tl=None credit=0 reason=
[STEP] step=0900 speed= 18.15km/h thr=0.27 brk=0.00 str=-0.00 safe=0 progress=86.2% goal=29.78m dL=0.98 ttc=64.39s tl=None credit=0 reason=
[STEP] step=0920 speed= 18.21km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=88.6% goal=24.75m dL=1.03 ttc=73.72s tl=None credit=0 reason=
[STEP] step=0940 speed= 18.07km/h thr=0.28 brk=0.00 str=+0.00 safe=0 progress=90.9% goal=19.73m dL=1.09 ttc=54.29s tl=None credit=0 reason=
[STEP] step=0960 speed= 18.21km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=93.2% goal=14.71m dL=1.18 ttc=46.58s tl=None credit=0 reason=
[STEP] step=0967 speed= 18.11km/h thr=0.30 brk=0.00 str=-0.01 safe=0 progress=94.0% goal=12.95m dL=1.22 ttc=45.11s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=14 R=-139.73 steps=967 success=1 progress=94.0% DS=94.01 intv=0.052 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 328 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=11 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=65.88s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=45.89s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.23km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.9% goal=210.07m dL=0.05 ttc=39.76s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.24 safe=0 progress=3.7% goal=208.34m dL=0.08 ttc=24.68s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.02km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=3.8% goal=208.19m dL=0.07 ttc=27.78s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.76km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=5.3% goal=204.73m dL=0.01 ttc=38.87s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.41km/h thr=0.00 brk=0.27 str=-0.00 safe=0 progress=7.2% goal=200.69m dL=0.03 ttc=33.95s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.15 safe=0 progress=7.7% goal=199.57m dL=0.03 ttc=23.40s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.53km/h thr=0.75 brk=0.00 str=-0.01 safe=1 progress=8.0% goal=199.10m dL=0.02 ttc=30.09s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.21km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=9.8% goal=195.02m dL=0.03 ttc=46.35s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.72km/h thr=0.00 brk=0.33 str=-0.02 safe=0 progress=11.5% goal=191.46m dL=0.03 ttc=31.00s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.48 str=-0.13 safe=0 progress=11.8% goal=190.82m dL=0.02 ttc=22.73s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.16km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=12.2% goal=189.82m dL=0.02 ttc=34.33s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.43km/h thr=0.00 brk=0.23 str=-0.03 safe=0 progress=14.3% goal=185.35m dL=0.03 ttc=43.36s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.31km/h thr=0.00 brk=0.44 str=-0.06 safe=0 progress=15.8% goal=182.23m dL=0.02 ttc=30.43s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.11 safe=0 progress=15.8% goal=182.07m dL=0.01 ttc=24.44s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.88km/h thr=0.63 brk=0.00 str=+0.00 safe=1 progress=16.6% goal=180.32m dL=0.01 ttc=45.36s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.79km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=18.8% goal=175.73m dL=0.02 ttc=37.20s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.16 safe=0 progress=19.9% goal=173.25m dL=0.00 ttc=21.30s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.41km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=19.9% goal=173.24m dL=0.00 ttc=19.74s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.53km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.0% goal=170.85m dL=0.01 ttc=23.93s tl=None credit=0 reason=
[STEP] step=0440 speed= 12.06km/h thr=0.00 brk=0.21 str=+0.01 safe=0 progress=23.0% goal=166.52m dL=0.02 ttc=19.12s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.20 safe=0 progress=23.8% goal=164.73m dL=0.00 ttc=14.27s tl=None credit=0 reason=
[STEP] step=0480 speed=  4.07km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=23.9% goal=164.58m dL=0.00 ttc=13.32s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.84km/h thr=0.24 brk=0.00 str=+0.04 safe=0 progress=25.5% goal=161.13m dL=0.01 ttc=12.61s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.81km/h thr=0.00 brk=0.21 str=-0.00 safe=0 progress=27.4% goal=157.04m dL=0.01 ttc=10.48s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.20 safe=0 progress=28.0% goal=155.78m dL=0.00 ttc=8.63s tl=None credit=0 reason=
[STEP] step=0560 speed=  6.78km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=28.2% goal=155.40m dL=0.00 ttc=7.64s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.85km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=29.9% goal=151.60m dL=0.00 ttc=6.27s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.82km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=32.0% goal=147.05m dL=0.04 ttc=5.01s tl=None credit=0 reason=
[STEP] step=0620 speed= 14.72km/h thr=0.16 brk=0.00 str=-0.02 safe=0 progress=33.9% goal=142.88m dL=0.01 ttc=4.06s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.50km/h thr=0.27 brk=0.00 str=-0.12 safe=0 progress=35.8% goal=138.79m dL=0.05 ttc=3.35s tl=None credit=0 reason=
[STEP] step=0660 speed= 14.56km/h thr=0.19 brk=0.00 str=+0.02 safe=0 progress=37.7% goal=134.72m dL=0.10 ttc=2.75s tl=None credit=0 reason=
[STEP] step=0680 speed= 12.55km/h thr=0.42 brk=0.00 str=-0.14 safe=0 progress=39.5% goal=130.91m dL=0.05 ttc=3.50s tl=None credit=0 reason=
[STEP] step=0700 speed= 14.15km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=41.3% goal=127.03m dL=0.14 ttc=83.75s tl=None credit=0 reason=
[STEP] step=0720 speed= 13.63km/h thr=0.09 brk=0.00 str=-0.05 safe=0 progress=43.1% goal=123.14m dL=0.26 ttc=70.77s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.11km/h thr=0.39 brk=0.00 str=-0.14 safe=0 progress=44.8% goal=119.43m dL=0.28 ttc=61.79s tl=None credit=0 reason=
[STEP] step=0760 speed= 12.32km/h thr=0.11 brk=0.00 str=-0.07 safe=0 progress=46.5% goal=115.82m dL=0.28 ttc=57.71s tl=None credit=0 reason=
[STEP] step=0780 speed= 12.21km/h thr=0.36 brk=0.00 str=-0.15 safe=0 progress=48.1% goal=112.29m dL=0.25 ttc=40.61s tl=None credit=0 reason=
[STEP] step=0800 speed= 12.98km/h thr=0.00 brk=0.09 str=-0.13 safe=0 progress=49.7% goal=108.76m dL=0.22 ttc=34.28s tl=None credit=0 reason=
[STEP] step=0820 speed= 10.57km/h thr=0.24 brk=0.00 str=+0.00 safe=0 progress=51.3% goal=105.39m dL=0.26 ttc=32.35s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.58km/h thr=0.00 brk=0.08 str=-0.13 safe=0 progress=52.9% goal=101.96m dL=0.28 ttc=44.14s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.29 str=+0.21 safe=0 progress=54.0% goal=99.53m dL=0.34 ttc=35.04s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.67km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=54.0% goal=99.52m dL=0.34 ttc=38.85s tl=None credit=0 reason=
[STEP] step=0900 speed= 15.04km/h thr=0.42 brk=0.00 str=-0.18 safe=1 progress=55.1% goal=97.02m dL=0.13 ttc=72.75s tl=None credit=0 reason=
[STEP] step=0920 speed= 10.00km/h thr=0.00 brk=0.39 str=-0.12 safe=0 progress=56.9% goal=93.15m dL=0.11 ttc=59.08s tl=None credit=0 reason=
[STEP] step=0940 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.22 safe=0 progress=57.3% goal=92.27m dL=0.13 ttc=38.69s tl=None credit=0 reason=
[STEP] step=0960 speed=  9.30km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=57.7% goal=91.57m dL=0.10 ttc=30.52s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.99km/h thr=0.12 brk=0.00 str=-0.12 safe=0 progress=59.7% goal=87.25m dL=0.00 ttc=28.92s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.50km/h thr=0.45 brk=0.00 str=-0.01 safe=0 progress=61.8% goal=82.53m dL=0.14 ttc=26.95s tl=None credit=0 reason=
[STEP] step=1020 speed= 21.40km/h thr=0.40 brk=0.00 str=+0.02 safe=0 progress=64.4% goal=77.06m dL=0.14 ttc=25.36s tl=None credit=0 reason=
[STEP] step=1040 speed= 22.39km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=67.2% goal=70.92m dL=0.07 ttc=24.15s tl=None credit=0 reason=
[STEP] step=1060 speed= 22.56km/h thr=0.41 brk=0.00 str=-0.01 safe=0 progress=70.1% goal=64.71m dL=0.14 ttc=24.90s tl=None credit=0 reason=
[STEP] step=1080 speed= 23.33km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=73.1% goal=58.27m dL=0.13 ttc=26.02s tl=None credit=0 reason=
[STEP] step=1100 speed= 23.44km/h thr=0.22 brk=0.00 str=+0.04 safe=0 progress=76.0% goal=51.84m dL=0.29 ttc=28.57s tl=None credit=0 reason=
[STEP] step=1120 speed= 17.50km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=78.6% goal=46.33m dL=0.38 ttc=30.46s tl=None credit=0 reason=
[STEP] step=1140 speed= 18.88km/h thr=0.31 brk=0.00 str=+0.07 safe=0 progress=81.0% goal=41.17m dL=0.65 ttc=29.60s tl=None credit=0 reason=
[STEP] step=1160 speed= 18.11km/h thr=0.29 brk=0.00 str=+0.04 safe=0 progress=83.3% goal=36.07m dL=0.74 ttc=29.26s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.10km/h thr=0.28 brk=0.00 str=+0.02 safe=0 progress=85.6% goal=31.04m dL=0.84 ttc=28.43s tl=None credit=0 reason=
[STEP] step=1200 speed= 17.94km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=88.0% goal=26.03m dL=0.93 ttc=27.57s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.08km/h thr=0.26 brk=0.00 str=-0.00 safe=0 progress=90.3% goal=21.02m dL=1.01 ttc=26.53s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.02km/h thr=0.27 brk=0.00 str=-0.01 safe=0 progress=92.6% goal=16.02m dL=1.09 ttc=19.10s tl=None credit=0 reason=
[STEP] step=1253 speed= 18.10km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=94.1% goal=12.76m dL=1.17 ttc=18.31s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=15 R=-4.71 steps=1253 success=1 progress=94.1% DS=94.10 intv=0.200 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 341 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=15 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=51.17s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.45m dL=0.00 ttc=14.77s tl=None credit=0 reason=
[STEP] step=0060 speed= 13.70km/h thr=0.00 brk=0.19 str=+0.01 safe=0 progress=3.0% goal=209.87m dL=0.07 ttc=14.36s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.18 str=-0.17 safe=0 progress=4.2% goal=207.29m dL=0.14 ttc=10.83s tl=None credit=0 reason=
[STEP] step=0100 speed=  6.04km/h thr=0.42 brk=0.00 str=-0.14 safe=0 progress=4.5% goal=206.66m dL=0.07 ttc=13.94s tl=None credit=0 reason=
[STEP] step=0120 speed= 13.55km/h thr=0.42 brk=0.00 str=+0.02 safe=0 progress=5.7% goal=203.90m dL=0.05 ttc=11.43s tl=None credit=0 reason=
[STEP] step=0140 speed= 14.27km/h thr=0.00 brk=0.17 str=+0.02 safe=0 progress=7.7% goal=199.59m dL=0.00 ttc=8.40s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.11 safe=0 progress=9.0% goal=196.88m dL=0.10 ttc=9.94s tl=None credit=0 reason=
[STEP] step=0180 speed=  0.21km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=9.0% goal=196.87m dL=0.10 ttc=8.02s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.47km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=10.1% goal=194.50m dL=0.03 ttc=4.28s tl=None credit=0 reason=
[STEP] step=0220 speed= 17.19km/h thr=0.11 brk=0.00 str=+0.05 safe=0 progress=12.3% goal=189.64m dL=0.02 ttc=3.36s tl=None credit=0 reason=
[STEP] step=0240 speed= 16.66km/h thr=0.14 brk=0.00 str=+0.07 safe=0 progress=14.4% goal=185.08m dL=0.03 ttc=2.91s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.54km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=16.6% goal=180.47m dL=0.10 ttc=2.39s tl=None credit=0 reason=
[STEP] step=0280 speed= 16.14km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=18.7% goal=175.93m dL=0.16 ttc=2.25s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.05km/h thr=0.16 brk=0.00 str=+0.09 safe=0 progress=20.7% goal=171.44m dL=0.17 ttc=77.27s tl=None credit=0 reason=
[STEP] step=0320 speed= 16.74km/h thr=0.22 brk=0.00 str=-0.00 safe=0 progress=22.9% goal=166.86m dL=0.24 ttc=90.52s tl=None credit=0 reason=
[STEP] step=0340 speed= 16.44km/h thr=0.30 brk=0.00 str=-0.04 safe=0 progress=24.9% goal=162.35m dL=0.16 ttc=85.37s tl=None credit=0 reason=
[STEP] step=0360 speed= 16.52km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=27.0% goal=157.85m dL=0.14 ttc=83.21s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.22km/h thr=0.18 brk=0.00 str=+0.06 safe=0 progress=29.1% goal=153.44m dL=0.09 ttc=69.07s tl=None credit=0 reason=
[STEP] step=0400 speed= 15.09km/h thr=0.00 brk=0.08 str=+0.13 safe=0 progress=31.0% goal=149.21m dL=0.09 ttc=65.46s tl=None credit=0 reason=
[STEP] step=0420 speed= 13.58km/h thr=0.19 brk=0.00 str=+0.01 safe=0 progress=32.8% goal=145.31m dL=0.15 ttc=63.77s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.92km/h thr=0.18 brk=0.00 str=+0.11 safe=0 progress=34.5% goal=141.63m dL=0.29 ttc=65.36s tl=None credit=0 reason=
[STEP] step=0460 speed= 10.82km/h thr=0.00 brk=0.29 str=+0.07 safe=0 progress=36.2% goal=138.01m dL=0.24 ttc=52.20s tl=None credit=0 reason=
[STEP] step=0480 speed= 11.90km/h thr=0.42 brk=0.00 str=-0.11 safe=0 progress=37.4% goal=135.30m dL=0.15 ttc=65.68s tl=None credit=0 reason=
[STEP] step=0500 speed= 11.14km/h thr=0.00 brk=0.31 str=-0.07 safe=0 progress=39.1% goal=131.62m dL=0.06 ttc=60.20s tl=None credit=0 reason=
[STEP] step=0520 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.15 safe=0 progress=39.8% goal=130.29m dL=0.08 ttc=27.75s tl=None credit=0 reason=
[STEP] step=0540 speed=  6.70km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=39.9% goal=129.92m dL=0.08 ttc=37.48s tl=None credit=0 reason=
[STEP] step=0560 speed= 16.00km/h thr=0.00 brk=0.08 str=+0.00 safe=0 progress=41.6% goal=126.21m dL=0.03 ttc=80.32s tl=None credit=0 reason=
[STEP] step=0580 speed=  7.40km/h thr=0.00 brk=0.34 str=-0.09 safe=0 progress=43.1% goal=123.01m dL=0.14 ttc=35.06s tl=None credit=0 reason=
[STEP] step=0600 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.20 safe=0 progress=43.2% goal=122.77m dL=0.15 ttc=21.62s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.46km/h thr=0.43 brk=0.00 str=-0.01 safe=1 progress=43.9% goal=121.26m dL=0.06 ttc=46.56s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.50km/h thr=0.00 brk=0.33 str=-0.04 safe=0 progress=45.9% goal=117.11m dL=0.09 ttc=39.67s tl=None credit=0 reason=
[STEP] step=0660 speed=  0.00km/h thr=0.00 brk=0.40 str=-0.19 safe=0 progress=46.7% goal=115.24m dL=0.13 ttc=18.22s tl=None credit=0 reason=
[STEP] step=0680 speed=  3.18km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=46.8% goal=115.14m dL=0.13 ttc=19.45s tl=None credit=0 reason=
[STEP] step=0700 speed= 16.05km/h thr=0.30 brk=0.00 str=+0.06 safe=0 progress=48.2% goal=112.07m dL=0.02 ttc=42.95s tl=None credit=0 reason=
[STEP] step=0720 speed=  8.80km/h thr=0.00 brk=0.34 str=-0.12 safe=0 progress=49.9% goal=108.44m dL=0.13 ttc=23.53s tl=None credit=0 reason=
[STEP] step=0740 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.12 safe=0 progress=50.1% goal=107.84m dL=0.13 ttc=14.24s tl=None credit=0 reason=
[STEP] step=0760 speed= 11.17km/h thr=0.75 brk=0.00 str=-0.13 safe=1 progress=50.6% goal=106.85m dL=0.07 ttc=23.32s tl=None credit=0 reason=
[STEP] step=0780 speed= 13.92km/h thr=0.00 brk=0.41 str=-0.10 safe=0 progress=52.5% goal=102.73m dL=0.11 ttc=27.59s tl=None credit=0 reason=
[STEP] step=0800 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.14 safe=0 progress=53.6% goal=100.43m dL=0.14 ttc=12.06s tl=None credit=0 reason=
[STEP] step=0820 speed=  1.50km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=53.6% goal=100.40m dL=0.14 ttc=11.80s tl=None credit=0 reason=
[STEP] step=0840 speed= 15.51km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=54.8% goal=97.70m dL=0.03 ttc=26.27s tl=None credit=0 reason=
[STEP] step=0860 speed=  9.57km/h thr=0.00 brk=0.35 str=-0.09 safe=0 progress=56.6% goal=93.90m dL=0.16 ttc=16.29s tl=None credit=0 reason=
[STEP] step=0880 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.16 safe=0 progress=56.9% goal=93.13m dL=0.15 ttc=9.83s tl=None credit=0 reason=
[STEP] step=0900 speed= 10.33km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=57.3% goal=92.29m dL=0.10 ttc=15.38s tl=None credit=0 reason=
[STEP] step=0920 speed= 16.75km/h thr=0.14 brk=0.00 str=-0.12 safe=0 progress=59.4% goal=87.89m dL=0.07 ttc=19.81s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.75km/h thr=0.42 brk=0.00 str=-0.04 safe=0 progress=61.3% goal=83.67m dL=0.14 ttc=16.34s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.47km/h thr=0.12 brk=0.00 str=+0.06 safe=0 progress=63.6% goal=78.76m dL=0.11 ttc=17.58s tl=None credit=0 reason=
[STEP] step=0980 speed= 17.40km/h thr=0.25 brk=0.00 str=+0.01 safe=0 progress=65.7% goal=74.24m dL=0.08 ttc=18.90s tl=None credit=0 reason=
[STEP] step=1000 speed= 16.42km/h thr=0.36 brk=0.00 str=+0.02 safe=0 progress=67.8% goal=69.64m dL=0.07 ttc=22.11s tl=None credit=0 reason=
[STEP] step=1020 speed= 15.66km/h thr=0.42 brk=0.00 str=+0.01 safe=0 progress=69.8% goal=65.33m dL=0.07 ttc=24.12s tl=None credit=0 reason=
[STEP] step=1040 speed= 19.86km/h thr=0.60 brk=0.00 str=+0.03 safe=0 progress=72.1% goal=60.43m dL=0.33 ttc=21.83s tl=None credit=0 reason=
[STEP] step=1060 speed= 15.52km/h thr=0.00 brk=0.28 str=+0.02 safe=0 progress=74.5% goal=55.07m dL=0.22 ttc=27.55s tl=None credit=0 reason=
[STEP] step=1080 speed= 11.87km/h thr=0.42 brk=0.00 str=+0.07 safe=0 progress=76.1% goal=51.69m dL=0.14 ttc=21.28s tl=None credit=0 reason=
[STEP] step=1100 speed= 16.23km/h thr=0.06 brk=0.00 str=-0.08 safe=0 progress=78.0% goal=47.56m dL=0.09 ttc=27.92s tl=None credit=0 reason=
[STEP] step=1120 speed= 17.14km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=80.1% goal=43.14m dL=0.11 ttc=25.37s tl=None credit=0 reason=
[STEP] step=1140 speed= 16.77km/h thr=0.24 brk=0.00 str=+0.05 safe=0 progress=82.1% goal=38.64m dL=0.22 ttc=19.96s tl=None credit=0 reason=
[STEP] step=1160 speed= 12.75km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=84.0% goal=34.70m dL=0.11 ttc=16.97s tl=None credit=0 reason=
[STEP] step=1180 speed= 15.33km/h thr=0.12 brk=0.00 str=+0.07 safe=0 progress=85.9% goal=30.47m dL=0.10 ttc=13.41s tl=None credit=0 reason=
[STEP] step=1200 speed= 14.18km/h thr=0.24 brk=0.00 str=+0.10 safe=0 progress=87.8% goal=26.36m dL=0.15 ttc=13.92s tl=None credit=0 reason=
[STEP] step=1220 speed= 15.02km/h thr=0.24 brk=0.00 str=-0.12 safe=0 progress=89.7% goal=22.18m dL=0.22 ttc=13.63s tl=None credit=0 reason=
[STEP] step=1240 speed= 17.25km/h thr=0.12 brk=0.00 str=+0.13 safe=0 progress=91.9% goal=17.50m dL=0.38 ttc=15.48s tl=None credit=0 reason=
[STEP] step=1260 speed= 17.37km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=94.1% goal=12.77m dL=0.29 ttc=15.76s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=16 R=-45.74 steps=1260 success=1 progress=94.1% DS=94.10 intv=0.159 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 358 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=88.41s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.8% goal=214.46m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.32km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=2.9% goal=210.05m dL=0.05 ttc=51.87s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.16 safe=0 progress=3.7% goal=208.30m dL=0.07 ttc=18.73s tl=None credit=0 reason=
[STEP] step=0100 speed=  3.91km/h thr=0.75 brk=0.00 str=-0.10 safe=1 progress=3.8% goal=208.15m dL=0.06 ttc=20.52s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.76km/h thr=0.24 brk=0.00 str=-0.08 safe=0 progress=5.4% goal=204.71m dL=0.01 ttc=58.03s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.53km/h thr=0.00 brk=0.28 str=-0.01 safe=0 progress=7.2% goal=200.65m dL=0.02 ttc=44.36s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.18 safe=0 progress=7.8% goal=199.49m dL=0.02 ttc=48.37s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.65km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=8.0% goal=199.02m dL=0.02 ttc=33.40s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.22km/h thr=0.00 brk=0.16 str=+0.02 safe=0 progress=9.9% goal=194.92m dL=0.03 ttc=54.23s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.58km/h thr=0.00 brk=0.30 str=-0.05 safe=0 progress=11.5% goal=191.38m dL=0.03 ttc=34.17s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.16 safe=0 progress=11.8% goal=190.86m dL=0.02 ttc=29.17s tl=None credit=0 reason=
[STEP] step=0260 speed= 12.08km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=12.3% goal=189.70m dL=0.02 ttc=68.51s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.13km/h thr=0.00 brk=0.22 str=-0.01 safe=0 progress=14.4% goal=185.14m dL=0.03 ttc=118.47s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.14km/h thr=0.00 brk=0.45 str=-0.07 safe=0 progress=15.8% goal=182.09m dL=0.02 ttc=85.07s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.52 str=-0.11 safe=0 progress=15.9% goal=181.92m dL=0.02 ttc=81.58s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.87km/h thr=0.64 brk=0.00 str=+0.00 safe=1 progress=16.7% goal=180.18m dL=0.01 ttc=122.89s tl=None credit=0 reason=
[STEP] step=0360 speed= 13.78km/h thr=0.00 brk=0.24 str=-0.00 safe=0 progress=18.8% goal=175.59m dL=0.02 ttc=63.87s tl=None credit=0 reason=
[STEP] step=0380 speed=  0.00km/h thr=0.00 brk=0.61 str=-0.19 safe=0 progress=20.0% goal=173.08m dL=0.00 ttc=39.12s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.89km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=20.0% goal=173.07m dL=0.00 ttc=30.80s tl=None credit=0 reason=
[STEP] step=0420 speed= 17.01km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=21.2% goal=170.46m dL=0.00 ttc=23.47s tl=None credit=0 reason=
[STEP] step=0440 speed= 12.35km/h thr=0.00 brk=0.21 str=+0.01 safe=0 progress=23.2% goal=166.03m dL=0.01 ttc=18.41s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.47 str=-0.13 safe=0 progress=24.1% goal=164.11m dL=0.00 ttc=15.14s tl=None credit=0 reason=
[STEP] step=0480 speed=  3.20km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=24.2% goal=164.01m dL=0.00 ttc=12.73s tl=None credit=0 reason=
[STEP] step=0500 speed= 17.72km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=25.7% goal=160.75m dL=0.01 ttc=10.81s tl=None credit=0 reason=
[STEP] step=0520 speed= 11.31km/h thr=0.00 brk=0.22 str=+0.02 safe=0 progress=27.6% goal=156.57m dL=0.01 ttc=9.55s tl=None credit=0 reason=
[STEP] step=0540 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.12 safe=0 progress=28.3% goal=155.06m dL=0.01 ttc=8.41s tl=None credit=0 reason=
[STEP] step=0560 speed=  5.82km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=28.4% goal=154.76m dL=0.00 ttc=7.24s tl=None credit=0 reason=
[STEP] step=0580 speed= 16.71km/h thr=0.12 brk=0.00 str=+0.05 safe=0 progress=30.1% goal=151.11m dL=0.03 ttc=6.17s tl=None credit=0 reason=
[STEP] step=0600 speed=  8.26km/h thr=0.00 brk=0.34 str=-0.03 safe=0 progress=31.7% goal=147.63m dL=0.17 ttc=5.07s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.51 str=-0.23 safe=0 progress=32.0% goal=147.15m dL=0.18 ttc=3.86s tl=None credit=0 reason=
[STEP] step=0640 speed= 12.08km/h thr=0.66 brk=0.00 str=-0.06 safe=1 progress=32.5% goal=146.00m dL=0.11 ttc=2.79s tl=None credit=0 reason=
[STEP] step=0660 speed= 18.02km/h thr=0.37 brk=0.00 str=-0.08 safe=0 progress=34.5% goal=141.61m dL=0.11 ttc=1.82s tl=None credit=0 reason=
[STEP] step=0680 speed= 19.33km/h thr=0.37 brk=0.00 str=-0.04 safe=0 progress=36.9% goal=136.46m dL=0.12 ttc=1.13s tl=None credit=0 reason=
[STEP] step=0700 speed= 22.36km/h thr=0.44 brk=0.00 str=-0.08 safe=0 progress=39.6% goal=130.65m dL=0.15 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0720 speed= 24.92km/h thr=0.44 brk=0.00 str=-0.11 safe=0 progress=42.6% goal=124.05m dL=0.25 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0740 speed= 25.03km/h thr=0.00 brk=0.16 str=-0.08 safe=0 progress=45.9% goal=116.91m dL=0.21 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0760 speed= 13.00km/h thr=0.00 brk=0.38 str=-0.04 safe=0 progress=48.3% goal=111.77m dL=0.19 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.15 safe=0 progress=49.2% goal=109.85m dL=0.19 ttc=119.54s tl=None credit=0 reason=
[STEP] step=0800 speed=  4.02km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=49.3% goal=109.70m dL=0.17 ttc=44.10s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.20km/h thr=0.24 brk=0.00 str=+0.02 safe=0 progress=50.8% goal=106.46m dL=0.07 ttc=48.16s tl=None credit=0 reason=
[STEP] step=0840 speed=  8.40km/h thr=0.00 brk=0.39 str=-0.15 safe=0 progress=52.4% goal=102.89m dL=0.18 ttc=32.63s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=52.6% goal=102.45m dL=0.17 ttc=26.43s tl=None credit=0 reason=
[STEP] step=0880 speed= 12.82km/h thr=0.53 brk=0.00 str=-0.16 safe=1 progress=53.2% goal=101.12m dL=0.07 ttc=31.99s tl=None credit=0 reason=
[STEP] step=0900 speed= 12.74km/h thr=0.00 brk=0.38 str=-0.09 safe=0 progress=55.2% goal=97.00m dL=0.16 ttc=34.96s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.18 safe=0 progress=56.0% goal=95.23m dL=0.16 ttc=29.34s tl=None credit=0 reason=
[STEP] step=0940 speed=  4.02km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=56.0% goal=95.07m dL=0.15 ttc=41.27s tl=None credit=0 reason=
[STEP] step=0960 speed= 17.28km/h thr=0.24 brk=0.00 str=+0.09 safe=0 progress=57.6% goal=91.70m dL=0.00 ttc=178.06s tl=None credit=0 reason=
[STEP] step=0980 speed= 16.26km/h thr=0.19 brk=0.00 str=-0.26 safe=0 progress=59.7% goal=87.15m dL=0.24 ttc=114.68s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.89km/h thr=0.57 brk=0.00 str=-0.07 safe=0 progress=61.9% goal=82.46m dL=0.27 ttc=81.60s tl=None credit=0 reason=
[STEP] step=1020 speed= 24.69km/h thr=0.09 brk=0.00 str=+0.15 safe=0 progress=64.8% goal=76.09m dL=0.54 ttc=67.02s tl=None credit=0 reason=
[STEP] step=1040 speed=  0.00km/h thr=0.00 brk=0.54 str=-0.16 safe=0 progress=66.7% goal=72.04m dL=0.24 ttc=48.70s tl=None credit=0 reason=
[STEP] step=1060 speed=  3.29km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=66.7% goal=71.94m dL=0.23 ttc=38.29s tl=None credit=0 reason=
[STEP] step=1080 speed= 17.73km/h thr=0.42 brk=0.00 str=-0.10 safe=0 progress=68.2% goal=68.68m dL=0.13 ttc=23.33s tl=None credit=0 reason=
[STEP] step=1100 speed= 22.03km/h thr=0.55 brk=0.00 str=-0.01 safe=0 progress=70.7% goal=63.37m dL=0.48 ttc=21.17s tl=None credit=0 reason=
[STEP] step=1120 speed=  4.75km/h thr=0.00 brk=0.06 str=+0.06 safe=0 progress=73.3% goal=57.71m dL=0.40 ttc=22.73s tl=None credit=0 reason=
[STEP] step=1140 speed=  0.24km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=73.3% goal=57.68m dL=0.40 ttc=22.07s tl=None credit=0 reason=
[STEP] step=1160 speed= 15.52km/h thr=0.53 brk=0.00 str=-0.04 safe=1 progress=74.2% goal=55.74m dL=0.22 ttc=22.51s tl=None credit=0 reason=
[STEP] step=1180 speed= 17.92km/h thr=0.42 brk=0.00 str=+0.00 safe=0 progress=76.5% goal=50.86m dL=0.34 ttc=23.58s tl=None credit=0 reason=
[STEP] step=1200 speed= 19.54km/h thr=0.23 brk=0.00 str=+0.01 safe=0 progress=78.9% goal=45.58m dL=0.61 ttc=27.17s tl=None credit=0 reason=
[STEP] step=1220 speed= 18.05km/h thr=0.23 brk=0.00 str=-0.03 safe=0 progress=81.3% goal=40.45m dL=0.63 ttc=31.49s tl=None credit=0 reason=
[STEP] step=1240 speed= 18.02km/h thr=0.30 brk=0.00 str=+0.05 safe=0 progress=83.6% goal=35.47m dL=0.73 ttc=137.45s tl=None credit=0 reason=
[STEP] step=1260 speed= 18.07km/h thr=0.28 brk=0.00 str=+0.01 safe=0 progress=85.9% goal=30.46m dL=0.88 ttc=142.84s tl=None credit=0 reason=
[STEP] step=1280 speed= 17.78km/h thr=0.26 brk=0.00 str=+0.01 safe=0 progress=88.2% goal=25.45m dL=0.96 ttc=160.70s tl=None credit=0 reason=
[STEP] step=1300 speed= 18.02km/h thr=0.25 brk=0.00 str=-0.01 safe=0 progress=90.5% goal=20.44m dL=1.02 ttc=159.23s tl=None credit=0 reason=
[STEP] step=1320 speed= 18.02km/h thr=0.28 brk=0.00 str=-0.01 safe=0 progress=92.9% goal=15.44m dL=1.11 ttc=207.48s tl=None credit=0 reason=
[STEP] step=1330 speed= 18.06km/h thr=0.29 brk=0.00 str=-0.01 safe=0 progress=94.0% goal=12.93m dL=1.16 ttc=650.73s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=17 R=-20.79 steps=1330 success=1 progress=94.0% DS=94.02 intv=0.263 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 369 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=14 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.01 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=29.43s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.22km/h thr=0.42 brk=0.00 str=-0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=10.56s tl=None credit=0 reason=
[STEP] step=0060 speed= 16.54km/h thr=0.23 brk=0.00 str=-0.01 safe=0 progress=3.0% goal=209.70m dL=0.15 ttc=5.81s tl=None credit=0 reason=
[STEP] step=0080 speed= 15.82km/h thr=0.37 brk=0.00 str=+0.02 safe=0 progress=5.1% goal=205.17m dL=0.29 ttc=5.28s tl=None credit=0 reason=
[STEP] step=0100 speed= 16.49km/h thr=0.18 brk=0.00 str=-0.06 safe=0 progress=7.3% goal=200.53m dL=0.57 ttc=5.15s tl=None credit=0 reason=
[STEP] step=0120 speed= 16.07km/h thr=0.23 brk=0.00 str=+0.04 safe=0 progress=9.4% goal=196.01m dL=0.61 ttc=5.84s tl=None credit=0 reason=
[STEP] step=0140 speed= 16.71km/h thr=0.29 brk=0.00 str=-0.02 safe=0 progress=11.4% goal=191.55m dL=0.29 ttc=6.73s tl=None credit=0 reason=
[STEP] step=0160 speed= 15.84km/h thr=0.42 brk=0.00 str=-0.01 safe=0 progress=13.5% goal=187.07m dL=0.26 ttc=10.38s tl=None credit=0 reason=
[STEP] step=0180 speed= 16.30km/h thr=0.36 brk=0.00 str=-0.02 safe=0 progress=15.5% goal=182.68m dL=0.26 ttc=52.39s tl=None credit=0 reason=
[STEP] step=0200 speed= 16.11km/h thr=0.06 brk=0.00 str=+0.04 safe=0 progress=17.6% goal=178.17m dL=0.25 ttc=47.85s tl=None credit=0 reason=
[STEP] step=0220 speed= 15.68km/h thr=0.15 brk=0.00 str=+0.07 safe=0 progress=19.7% goal=173.68m dL=0.23 ttc=46.69s tl=None credit=0 reason=
[STEP] step=0240 speed= 15.18km/h thr=0.30 brk=0.00 str=-0.07 safe=0 progress=21.8% goal=169.25m dL=0.18 ttc=44.75s tl=None credit=0 reason=
[STEP] step=0260 speed= 16.90km/h thr=0.18 brk=0.00 str=+0.07 safe=0 progress=23.9% goal=164.69m dL=0.14 ttc=47.71s tl=None credit=0 reason=
[STEP] step=0280 speed= 18.15km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=26.1% goal=159.78m dL=0.03 ttc=48.87s tl=None credit=0 reason=
[STEP] step=0300 speed= 16.45km/h thr=0.06 brk=0.00 str=-0.01 safe=0 progress=28.4% goal=154.81m dL=0.02 ttc=7.40s tl=None credit=0 reason=
[STEP] step=0320 speed=  9.08km/h thr=0.00 brk=0.29 str=-0.05 safe=0 progress=30.1% goal=151.17m dL=0.07 ttc=3.85s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.49 str=-0.07 safe=0 progress=30.4% goal=150.46m dL=0.09 ttc=1.94s tl=None credit=0 reason=
[STEP] step=0360 speed= 10.25km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=30.8% goal=149.62m dL=0.06 ttc=1.55s tl=None credit=0 reason=
[STEP] step=0380 speed= 15.62km/h thr=0.09 brk=0.00 str=-0.04 safe=0 progress=32.7% goal=145.48m dL=0.06 ttc=1.30s tl=None credit=0 reason=
[STEP] step=0400 speed= 14.75km/h thr=0.25 brk=0.00 str=-0.10 safe=0 progress=34.6% goal=141.44m dL=0.04 ttc=9.29s tl=None credit=0 reason=
[STEP] step=0420 speed= 14.76km/h thr=0.17 brk=0.00 str=-0.06 safe=0 progress=36.5% goal=137.31m dL=0.17 ttc=7.67s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.75km/h thr=0.30 brk=0.00 str=-0.14 safe=0 progress=38.3% goal=133.36m dL=0.23 ttc=6.47s tl=None credit=0 reason=
[STEP] step=0460 speed= 13.14km/h thr=0.18 brk=0.00 str=-0.11 safe=0 progress=40.0% goal=129.72m dL=0.22 ttc=5.50s tl=None credit=0 reason=
[STEP] step=0480 speed= 11.43km/h thr=0.30 brk=0.00 str=-0.05 safe=0 progress=41.7% goal=126.13m dL=0.24 ttc=4.60s tl=None credit=0 reason=
[STEP] step=0500 speed= 13.38km/h thr=0.20 brk=0.00 str=-0.16 safe=0 progress=43.3% goal=122.70m dL=0.22 ttc=3.68s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.68km/h thr=0.36 brk=0.00 str=+0.08 safe=0 progress=44.8% goal=119.31m dL=0.31 ttc=2.99s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.31km/h thr=0.30 brk=0.00 str=+0.02 safe=0 progress=46.4% goal=115.90m dL=0.20 ttc=2.87s tl=None credit=0 reason=
[STEP] step=0560 speed=  9.49km/h thr=0.06 brk=0.00 str=-0.11 safe=0 progress=48.1% goal=112.37m dL=0.02 ttc=20.02s tl=None credit=0 reason=
[STEP] step=0580 speed= 13.87km/h thr=0.30 brk=0.00 str=-0.13 safe=0 progress=49.4% goal=109.36m dL=0.01 ttc=31.75s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.55km/h thr=0.12 brk=0.00 str=-0.11 safe=0 progress=51.2% goal=105.45m dL=0.07 ttc=36.99s tl=None credit=0 reason=
[STEP] step=0620 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.00 safe=0 progress=52.3% goal=103.09m dL=0.14 ttc=33.41s tl=None credit=0 reason=
[STEP] step=0640 speed=  1.72km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=52.4% goal=103.06m dL=0.14 ttc=37.68s tl=None credit=0 reason=
[STEP] step=0660 speed= 15.41km/h thr=0.42 brk=0.00 str=-0.04 safe=1 progress=53.6% goal=100.34m dL=0.06 ttc=14.47s tl=None credit=0 reason=
[STEP] step=0680 speed=  9.10km/h thr=0.00 brk=0.40 str=-0.17 safe=0 progress=55.3% goal=96.59m dL=0.07 ttc=55.72s tl=None credit=0 reason=
[STEP] step=0700 speed=  0.00km/h thr=0.00 brk=0.39 str=-0.11 safe=0 progress=55.6% goal=95.96m dL=0.11 ttc=53.29s tl=None credit=0 reason=
[STEP] step=0720 speed= 11.17km/h thr=0.75 brk=0.00 str=+0.04 safe=1 progress=56.1% goal=94.95m dL=0.07 ttc=96.64s tl=None credit=0 reason=
[STEP] step=0740 speed= 14.21km/h thr=0.00 brk=0.43 str=-0.02 safe=0 progress=58.1% goal=90.71m dL=0.05 ttc=79.71s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.00 brk=0.42 str=+0.09 safe=0 progress=59.1% goal=88.54m dL=0.19 ttc=269.23s tl=None credit=0 reason=
[STEP] step=0780 speed=  2.29km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=59.1% goal=88.48m dL=0.18 ttc=157.61s tl=None credit=0 reason=
[STEP] step=0800 speed= 17.48km/h thr=0.36 brk=0.00 str=+0.04 safe=0 progress=60.5% goal=85.43m dL=0.17 ttc=53.98s tl=None credit=0 reason=
[STEP] step=0820 speed= 19.99km/h thr=0.41 brk=0.00 str=-0.01 safe=0 progress=62.9% goal=80.24m dL=0.08 ttc=46.34s tl=None credit=0 reason=
[STEP] step=0840 speed= 21.72km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=65.6% goal=74.33m dL=0.04 ttc=47.36s tl=None credit=0 reason=
[STEP] step=0860 speed= 22.19km/h thr=0.34 brk=0.00 str=-0.01 safe=0 progress=68.5% goal=68.17m dL=0.05 ttc=57.71s tl=None credit=0 reason=
[STEP] step=0880 speed= 22.12km/h thr=0.33 brk=0.00 str=-0.01 safe=0 progress=71.4% goal=61.96m dL=0.06 ttc=46.36s tl=None credit=0 reason=
[STEP] step=0900 speed= 21.97km/h thr=0.34 brk=0.00 str=-0.00 safe=0 progress=74.2% goal=55.81m dL=0.09 ttc=42.82s tl=None credit=0 reason=
[STEP] step=0920 speed= 22.37km/h thr=0.37 brk=0.00 str=-0.02 safe=0 progress=77.1% goal=49.62m dL=0.14 ttc=31.14s tl=None credit=0 reason=
[STEP] step=0940 speed= 23.11km/h thr=0.26 brk=0.00 str=+0.03 safe=0 progress=80.0% goal=43.23m dL=0.29 ttc=40.87s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.58km/h thr=0.42 brk=0.00 str=-0.05 safe=0 progress=82.5% goal=37.88m dL=0.35 ttc=59.33s tl=None credit=0 reason=
[STEP] step=0980 speed= 18.63km/h thr=0.31 brk=0.00 str=+0.07 safe=0 progress=84.8% goal=32.87m dL=0.67 ttc=95.77s tl=None credit=0 reason=
[STEP] step=1000 speed= 18.01km/h thr=0.21 brk=0.00 str=+0.04 safe=0 progress=87.2% goal=27.75m dL=0.73 ttc=59.99s tl=None credit=0 reason=
[STEP] step=1020 speed= 16.90km/h thr=0.24 brk=0.00 str=-0.02 safe=0 progress=89.4% goal=22.94m dL=0.79 ttc=53.26s tl=None credit=0 reason=
[STEP] step=1040 speed= 17.16km/h thr=0.26 brk=0.00 str=-0.01 safe=0 progress=91.6% goal=18.21m dL=0.91 ttc=46.30s tl=None credit=0 reason=
[STEP] step=1060 speed= 17.62km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=93.8% goal=13.38m dL=1.03 ttc=32.33s tl=None credit=0 reason=
[STEP] step=1062 speed= 17.69km/h thr=0.27 brk=0.00 str=-0.02 safe=0 progress=94.0% goal=12.89m dL=1.05 ttc=31.67s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=18 R=-149.72 steps=1062 success=1 progress=94.0% DS=94.04 intv=0.118 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 Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=10 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=36.63s tl=None credit=0 reason=
[STEP] step=0040 speed= 16.38km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=0.9% goal=214.46m dL=0.00 ttc=29.89s tl=None credit=0 reason=
[STEP] step=0060 speed= 18.16km/h thr=0.32 brk=0.00 str=+0.02 safe=0 progress=3.2% goal=209.46m dL=0.07 ttc=19.47s tl=None credit=0 reason=
[STEP] step=0080 speed= 16.72km/h thr=0.00 brk=0.05 str=+0.07 safe=0 progress=5.5% goal=204.46m dL=0.11 ttc=19.33s tl=None credit=0 reason=
[STEP] step=0100 speed=  8.10km/h thr=0.00 brk=0.44 str=+0.02 safe=0 progress=7.1% goal=201.01m dL=0.02 ttc=17.75s tl=None credit=0 reason=
[STEP] step=0120 speed=  0.00km/h thr=0.00 brk=0.56 str=-0.14 safe=0 progress=7.2% goal=200.65m dL=0.03 ttc=13.27s tl=None credit=0 reason=
[STEP] step=0140 speed= 13.04km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=7.9% goal=199.31m dL=0.01 ttc=530.93s tl=None credit=0 reason=
[STEP] step=0160 speed= 14.49km/h thr=0.00 brk=0.24 str=-0.01 safe=0 progress=10.0% goal=194.77m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0180 speed=  2.75km/h thr=0.00 brk=0.46 str=-0.05 safe=0 progress=11.3% goal=191.93m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0200 speed=  0.08km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=11.3% goal=191.92m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0220 speed= 16.04km/h thr=0.45 brk=0.00 str=+0.00 safe=1 progress=12.3% goal=189.76m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0240 speed= 12.81km/h thr=0.00 brk=0.22 str=+0.03 safe=0 progress=14.3% goal=185.28m dL=0.03 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0260 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.17 safe=0 progress=15.3% goal=183.15m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0280 speed=  2.55km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=15.4% goal=183.09m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0300 speed= 17.65km/h thr=0.36 brk=0.00 str=-0.01 safe=0 progress=16.8% goal=179.95m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0320 speed= 11.47km/h thr=0.00 brk=0.24 str=+0.00 safe=0 progress=18.8% goal=175.67m dL=0.02 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0340 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.10 safe=0 progress=19.5% goal=174.12m dL=0.01 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0360 speed=  4.89km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=19.6% goal=173.91m dL=0.01 ttc=206.65s tl=None credit=0 reason=
[STEP] step=0380 speed= 17.94km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=21.3% goal=170.28m dL=0.02 ttc=360.39s tl=None credit=0 reason=
[STEP] step=0400 speed= 10.32km/h thr=0.00 brk=0.19 str=+0.03 safe=0 progress=23.1% goal=166.31m dL=0.01 ttc=50.94s tl=None credit=0 reason=
[STEP] step=0420 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.18 safe=0 progress=23.6% goal=165.19m dL=0.01 ttc=34.12s tl=None credit=0 reason=
[STEP] step=0440 speed=  7.52km/h thr=0.75 brk=0.00 str=+0.02 safe=1 progress=23.9% goal=164.71m dL=0.00 ttc=47.83s tl=None credit=0 reason=
[STEP] step=0460 speed= 17.28km/h thr=0.00 brk=0.16 str=-0.04 safe=0 progress=25.8% goal=160.59m dL=0.03 ttc=117.61s tl=None credit=0 reason=
[STEP] step=0480 speed=  9.25km/h thr=0.00 brk=0.31 str=-0.01 safe=0 progress=27.4% goal=156.94m dL=0.01 ttc=81.61s tl=None credit=0 reason=
[STEP] step=0500 speed=  0.00km/h thr=0.00 brk=0.58 str=-0.21 safe=0 progress=27.8% goal=156.15m dL=0.01 ttc=56.24s tl=None credit=0 reason=
[STEP] step=0520 speed= 10.39km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=28.2% goal=155.29m dL=0.00 ttc=105.69s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.93km/h thr=0.00 brk=0.25 str=+0.02 safe=0 progress=30.1% goal=151.09m dL=0.04 ttc=140.86s tl=None credit=0 reason=
[STEP] step=0560 speed=  0.00km/h thr=0.00 brk=0.57 str=-0.11 safe=0 progress=31.4% goal=148.32m dL=0.11 ttc=57.51s tl=None credit=0 reason=
[STEP] step=0580 speed=  0.29km/h thr=0.75 brk=0.00 str=-0.17 safe=1 progress=31.4% goal=148.31m dL=0.11 ttc=42.52s tl=None credit=0 reason=
[STEP] step=0600 speed= 15.22km/h thr=0.42 brk=0.00 str=-0.09 safe=1 progress=32.5% goal=145.97m dL=0.07 ttc=32.66s tl=None credit=0 reason=
[STEP] step=0620 speed= 10.98km/h thr=0.00 brk=0.31 str=-0.05 safe=0 progress=34.4% goal=141.91m dL=0.12 ttc=30.41s tl=None credit=0 reason=
[STEP] step=0640 speed=  0.00km/h thr=0.00 brk=0.41 str=-0.20 safe=0 progress=35.0% goal=140.65m dL=0.16 ttc=32.87s tl=None credit=0 reason=
[STEP] step=0660 speed=  6.65km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=35.1% goal=140.27m dL=0.14 ttc=40.07s tl=None credit=0 reason=
[STEP] step=0680 speed= 16.21km/h thr=0.00 brk=0.08 str=-0.03 safe=0 progress=36.9% goal=136.56m dL=0.03 ttc=54.77s tl=None credit=0 reason=
[STEP] step=0700 speed=  7.40km/h thr=0.00 brk=0.37 str=-0.12 safe=0 progress=38.4% goal=133.32m dL=0.15 ttc=56.66s tl=None credit=0 reason=
[STEP] step=0720 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.14 safe=0 progress=38.5% goal=133.13m dL=0.14 ttc=56.64s tl=None credit=0 reason=
[STEP] step=0740 speed= 13.67km/h thr=0.42 brk=0.00 str=-0.14 safe=1 progress=39.1% goal=131.62m dL=0.05 ttc=30.36s tl=None credit=0 reason=
[STEP] step=0760 speed= 11.94km/h thr=0.00 brk=0.33 str=-0.06 safe=0 progress=41.0% goal=127.53m dL=0.13 ttc=21.38s tl=None credit=0 reason=
[STEP] step=0780 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.15 safe=0 progress=41.8% goal=125.92m dL=0.15 ttc=20.44s tl=None credit=0 reason=
[STEP] step=0800 speed=  4.85km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=41.9% goal=125.71m dL=0.13 ttc=22.81s tl=None credit=0 reason=
[STEP] step=0820 speed= 16.42km/h thr=0.18 brk=0.00 str=+0.04 safe=0 progress=43.5% goal=122.27m dL=0.05 ttc=19.12s tl=None credit=0 reason=
[STEP] step=0840 speed=  8.18km/h thr=0.00 brk=0.37 str=-0.14 safe=0 progress=45.1% goal=118.80m dL=0.16 ttc=18.42s tl=None credit=0 reason=
[STEP] step=0860 speed=  0.00km/h thr=0.00 brk=0.42 str=-0.18 safe=0 progress=45.3% goal=118.41m dL=0.16 ttc=18.89s tl=None credit=0 reason=
[STEP] step=0880 speed= 12.86km/h thr=0.52 brk=0.00 str=-0.16 safe=1 progress=45.9% goal=117.07m dL=0.06 ttc=16.00s tl=None credit=0 reason=
[STEP] step=0900 speed= 12.80km/h thr=0.00 brk=0.36 str=-0.04 safe=0 progress=47.8% goal=112.95m dL=0.12 ttc=15.99s tl=None credit=0 reason=
[STEP] step=0920 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=48.7% goal=111.05m dL=0.16 ttc=19.88s tl=None credit=0 reason=
[STEP] step=0940 speed=  4.06km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.7% goal=110.91m dL=0.16 ttc=51.34s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.21km/h thr=0.24 brk=0.00 str=+0.10 safe=0 progress=50.2% goal=107.66m dL=0.02 ttc=39.52s tl=None credit=0 reason=
[STEP] step=0980 speed=  8.29km/h thr=0.00 brk=0.37 str=-0.11 safe=0 progress=51.9% goal=104.13m dL=0.14 ttc=50.08s tl=None credit=0 reason=
[STEP] step=1000 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.20 safe=0 progress=52.1% goal=103.71m dL=0.14 ttc=42.60s tl=None credit=0 reason=
[STEP] step=1020 speed= 12.83km/h thr=0.53 brk=0.00 str=-0.08 safe=1 progress=52.7% goal=102.38m dL=0.06 ttc=20.71s tl=None credit=0 reason=
[STEP] step=1040 speed= 12.71km/h thr=0.00 brk=0.40 str=-0.11 safe=0 progress=54.6% goal=98.25m dL=0.12 ttc=16.37s tl=None credit=0 reason=
[STEP] step=1060 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.21 safe=0 progress=55.4% goal=96.44m dL=0.15 ttc=14.36s tl=None credit=0 reason=
[STEP] step=1080 speed=  3.95km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=55.5% goal=96.29m dL=0.14 ttc=16.28s tl=None credit=0 reason=
[STEP] step=1100 speed= 16.78km/h thr=0.24 brk=0.00 str=+0.03 safe=0 progress=57.0% goal=92.98m dL=0.06 ttc=11.25s tl=None credit=0 reason=
[STEP] step=1120 speed=  8.73km/h thr=0.00 brk=0.43 str=-0.19 safe=0 progress=58.7% goal=89.26m dL=0.17 ttc=11.87s tl=None credit=0 reason=
[STEP] step=1140 speed=  0.00km/h thr=0.00 brk=0.44 str=-0.21 safe=0 progress=59.0% goal=88.78m dL=0.13 ttc=13.66s tl=None credit=0 reason=
[STEP] step=1160 speed= 12.13km/h thr=0.75 brk=0.00 str=-0.12 safe=1 progress=59.5% goal=87.63m dL=0.04 ttc=9.64s tl=None credit=0 reason=
[STEP] step=1180 speed= 18.08km/h thr=0.42 brk=0.00 str=-0.02 safe=0 progress=61.7% goal=82.93m dL=0.11 ttc=7.60s tl=None credit=0 reason=
[STEP] step=1200 speed= 21.18km/h thr=0.41 brk=0.00 str=+0.02 safe=0 progress=64.2% goal=77.52m dL=0.12 ttc=6.94s tl=None credit=0 reason=
[STEP] step=1220 speed= 19.53km/h thr=0.00 brk=0.16 str=-0.02 safe=0 progress=66.9% goal=71.59m dL=0.16 ttc=6.71s tl=None credit=0 reason=
[STEP] step=1240 speed= 11.84km/h thr=0.00 brk=0.24 str=+0.08 safe=0 progress=68.9% goal=67.22m dL=0.18 ttc=8.78s tl=None credit=0 reason=
[STEP] step=1260 speed=  0.00km/h thr=0.00 brk=0.59 str=-0.13 safe=0 progress=69.8% goal=65.40m dL=0.14 ttc=30.32s tl=None credit=0 reason=
[STEP] step=1280 speed=  3.15km/h thr=0.75 brk=0.00 str=+0.09 safe=1 progress=69.8% goal=65.30m dL=0.13 ttc=13.45s tl=None credit=0 reason=
[STEP] step=1300 speed= 17.66km/h thr=0.30 brk=0.00 str=-0.11 safe=0 progress=71.3% goal=62.05m dL=0.07 ttc=9.78s tl=None credit=0 reason=
[STEP] step=1320 speed= 14.25km/h thr=0.00 brk=0.40 str=+0.06 safe=0 progress=73.5% goal=57.34m dL=0.14 ttc=11.43s tl=None credit=0 reason=
[STEP] step=1340 speed=  0.00km/h thr=0.00 brk=0.43 str=-0.05 safe=0 progress=74.6% goal=54.92m dL=0.15 ttc=13.52s tl=None credit=0 reason=
[STEP] step=1360 speed=  0.93km/h thr=0.75 brk=0.00 str=+0.18 safe=1 progress=74.6% goal=54.90m dL=0.15 ttc=14.41s tl=None credit=0 reason=
[STEP] step=1380 speed= 16.88km/h thr=0.42 brk=0.00 str=-0.01 safe=1 progress=75.8% goal=52.28m dL=0.07 ttc=5.52s tl=None credit=0 reason=
[STEP] step=1400 speed= 18.30km/h thr=0.25 brk=0.00 str=-0.15 safe=0 progress=78.2% goal=47.26m dL=0.03 ttc=3.65s tl=None credit=0 reason=
[STEP] step=1420 speed= 21.12km/h thr=0.47 brk=0.00 str=+0.01 safe=0 progress=80.6% goal=41.97m dL=0.01 ttc=2.89s tl=None credit=0 reason=
[STEP] step=1440 speed= 23.45km/h thr=0.37 brk=0.00 str=-0.00 safe=0 progress=83.5% goal=35.68m dL=0.08 ttc=19.17s tl=None credit=0 reason=
[STEP] step=1460 speed= 24.46km/h thr=0.47 brk=0.00 str=-0.04 safe=0 progress=86.6% goal=29.07m dL=0.04 ttc=42.10s tl=None credit=0 reason=
[STEP] step=1480 speed= 26.44km/h thr=0.45 brk=0.00 str=+0.00 safe=0 progress=89.8% goal=21.99m dL=0.12 ttc=34.80s tl=None credit=0 reason=
[STEP] step=1500 speed= 28.38km/h thr=0.44 brk=0.00 str=-0.04 safe=0 progress=93.4% goal=14.33m dL=0.16 ttc=34.83s tl=None credit=0 reason=
[STEP] step=1504 speed= 28.60km/h thr=0.46 brk=0.00 str=+0.01 safe=0 progress=94.1% goal=12.74m dL=0.15 ttc=35.51s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=19 R=46.44 steps=1504 success=1 progress=94.1% DS=94.11 intv=0.299 reason=goal
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 397 (sensor.other.collision) 
[WARN] planner auto-route unavailable from spawn 0 in Town05; using local lane-follow route fallback
[WARN] local fallback route misaligned after settle: progress=57.34% dL=106.12m; rebuilding from settled ego pose
[RESET] town=Town05 npc=9 weather=mixed spawn_idx=0 goal_idx=None route_len=216.3m spawn=(-164.7,-95.1,-0.1) yaw=-179.9 start_progress=0.00% start_dL=0.00
[STEP] step=0001 speed=  0.53km/h thr=0.00 brk=0.08 str=-0.08 safe=0 progress=0.0% goal=216.30m dL=0.00 ttc=999.00s tl=None credit=0 reason=
[STEP] step=0020 speed=  0.00km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=0.0% goal=216.30m dL=0.00 ttc=71.14s tl=None credit=0 reason=
[STEP] step=0040 speed= 15.69km/h thr=0.51 brk=0.00 str=+0.00 safe=1 progress=0.7% goal=214.69m dL=0.00 ttc=56.40s tl=None credit=0 reason=
[STEP] step=0060 speed= 12.27km/h thr=0.00 brk=0.27 str=-0.02 safe=0 progress=2.8% goal=210.33m dL=0.06 ttc=25.28s tl=None credit=0 reason=
[STEP] step=0080 speed=  0.00km/h thr=0.00 brk=0.53 str=-0.19 safe=0 progress=3.6% goal=208.62m dL=0.09 ttc=13.73s tl=None credit=0 reason=
[STEP] step=0100 speed=  4.81km/h thr=0.75 brk=0.00 str=-0.11 safe=1 progress=3.6% goal=208.41m dL=0.07 ttc=15.73s tl=None credit=0 reason=
[STEP] step=0120 speed= 17.89km/h thr=0.18 brk=0.00 str=-0.05 safe=0 progress=5.3% goal=204.79m dL=0.02 ttc=42.65s tl=None credit=0 reason=
[STEP] step=0140 speed= 10.44km/h thr=0.00 brk=0.27 str=-0.01 safe=0 progress=7.2% goal=200.76m dL=0.02 ttc=41.72s tl=None credit=0 reason=
[STEP] step=0160 speed=  0.00km/h thr=0.00 brk=0.55 str=-0.09 safe=0 progress=7.7% goal=199.65m dL=0.03 ttc=21.46s tl=None credit=0 reason=
[STEP] step=0180 speed=  7.54km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=7.9% goal=199.17m dL=0.02 ttc=38.21s tl=None credit=0 reason=
[STEP] step=0200 speed= 17.33km/h thr=0.00 brk=0.16 str=+0.03 safe=0 progress=9.8% goal=195.06m dL=0.03 ttc=41.53s tl=None credit=0 reason=
[STEP] step=0220 speed=  8.72km/h thr=0.00 brk=0.34 str=-0.01 safe=0 progress=11.5% goal=191.49m dL=0.02 ttc=39.60s tl=None credit=0 reason=
[STEP] step=0240 speed=  0.00km/h thr=0.00 brk=0.50 str=-0.12 safe=0 progress=11.8% goal=190.87m dL=0.02 ttc=27.65s tl=None credit=0 reason=
[STEP] step=0260 speed= 11.17km/h thr=0.75 brk=0.00 str=+0.01 safe=1 progress=12.2% goal=189.87m dL=0.01 ttc=43.69s tl=None credit=0 reason=
[STEP] step=0280 speed= 15.44km/h thr=0.00 brk=0.23 str=-0.03 safe=0 progress=14.3% goal=185.40m dL=0.03 ttc=56.85s tl=None credit=0 reason=
[STEP] step=0300 speed=  7.39km/h thr=0.00 brk=0.33 str=-0.07 safe=0 progress=15.7% goal=182.27m dL=0.02 ttc=36.27s tl=None credit=0 reason=
[STEP] step=0320 speed=  0.00km/h thr=0.00 brk=0.60 str=-0.18 safe=0 progress=15.8% goal=182.04m dL=0.01 ttc=22.44s tl=None credit=0 reason=
[STEP] step=0340 speed= 14.07km/h thr=0.75 brk=0.00 str=+0.00 safe=1 progress=16.6% goal=180.49m dL=0.01 ttc=12.34s tl=None credit=0 reason=
[STEP] step=0360 speed= 14.25km/h thr=0.00 brk=0.23 str=-0.00 safe=0 progress=18.7% goal=175.89m dL=0.03 ttc=11.26s tl=None credit=0 reason=
[STEP] step=0380 speed=  2.83km/h thr=0.00 brk=0.38 str=-0.08 safe=0 progress=20.0% goal=173.10m dL=0.01 ttc=14.07s tl=None credit=0 reason=
[STEP] step=0400 speed=  0.26km/h thr=0.75 brk=0.00 str=+0.03 safe=1 progress=20.0% goal=173.09m dL=0.01 ttc=15.20s tl=None credit=0 reason=
[STEP] step=0420 speed= 16.11km/h thr=0.44 brk=0.00 str=+0.00 safe=1 progress=21.0% goal=170.90m dL=0.01 ttc=8.84s tl=None credit=0 reason=
[STEP] step=0440 speed= 13.00km/h thr=0.00 brk=0.21 str=-0.00 safe=0 progress=23.1% goal=166.40m dL=0.02 ttc=8.39s tl=None credit=0 reason=
[STEP] step=0460 speed=  0.00km/h thr=0.00 brk=0.32 str=-0.07 safe=0 progress=24.2% goal=164.06m dL=0.01 ttc=10.59s tl=None credit=0 reason=
[STEP] step=0480 speed=  0.85km/h thr=0.75 brk=0.00 str=-0.02 safe=1 progress=24.2% goal=164.05m dL=0.01 ttc=8.14s tl=None credit=0 reason=
[STEP] step=0500 speed= 16.91km/h thr=0.42 brk=0.00 str=+0.00 safe=1 progress=25.4% goal=161.42m dL=0.01 ttc=3.92s tl=None credit=0 reason=
[STEP] step=0520 speed= 16.18km/h thr=0.18 brk=0.00 str=-0.03 safe=0 progress=27.6% goal=156.64m dL=0.01 ttc=2.82s tl=None credit=0 reason=
[STEP] step=0540 speed= 14.70km/h thr=0.20 brk=0.00 str=-0.02 safe=0 progress=29.6% goal=152.36m dL=0.04 ttc=2.02s tl=None credit=0 reason=
[STEP] step=0560 speed= 11.39km/h thr=0.06 brk=0.00 str=-0.03 safe=0 progress=31.3% goal=148.58m dL=0.04 ttc=2.29s tl=None credit=0 reason=
[STEP] step=0580 speed= 14.43km/h thr=0.24 brk=0.00 str=-0.07 safe=0 progress=32.9% goal=145.10m dL=0.04 ttc=6.07s tl=None credit=0 reason=
[STEP] step=0600 speed= 13.50km/h thr=0.19 brk=0.00 str=-0.13 safe=0 progress=34.7% goal=141.22m dL=0.06 ttc=4.89s tl=None credit=0 reason=
[STEP] step=0620 speed= 13.55km/h thr=0.00 brk=0.08 str=+0.07 safe=0 progress=36.5% goal=137.43m dL=0.11 ttc=3.84s tl=None credit=0 reason=
[STEP] step=0640 speed= 14.13km/h thr=0.24 brk=0.00 str=-0.01 safe=0 progress=38.1% goal=133.96m dL=0.11 ttc=2.78s tl=None credit=0 reason=
[STEP] step=0660 speed= 13.62km/h thr=0.25 brk=0.00 str=-0.02 safe=0 progress=39.9% goal=130.07m dL=0.06 ttc=2.07s tl=None credit=0 reason=
[STEP] step=0680 speed= 15.98km/h thr=0.37 brk=0.00 str=-0.10 safe=0 progress=41.7% goal=126.09m dL=0.03 ttc=3.33s tl=None credit=0 reason=
[STEP] step=0700 speed= 18.08km/h thr=0.43 brk=0.00 str=-0.04 safe=0 progress=44.0% goal=121.21m dL=0.05 ttc=19.08s tl=None credit=0 reason=
[STEP] step=0720 speed= 19.89km/h thr=0.44 brk=0.00 str=-0.08 safe=0 progress=46.4% goal=115.94m dL=0.11 ttc=23.37s tl=None credit=0 reason=
[STEP] step=0740 speed=  7.17km/h thr=0.00 brk=0.32 str=+0.05 safe=0 progress=48.8% goal=110.66m dL=0.13 ttc=11.03s tl=None credit=0 reason=
[STEP] step=0760 speed=  0.00km/h thr=0.75 brk=0.00 str=-0.18 safe=1 progress=48.9% goal=110.59m dL=0.13 ttc=7.54s tl=None credit=0 reason=
[STEP] step=0780 speed= 14.29km/h thr=0.42 brk=0.00 str=-0.13 safe=1 progress=49.7% goal=108.70m dL=0.03 ttc=12.98s tl=None credit=0 reason=
[STEP] step=0800 speed= 15.14km/h thr=0.16 brk=0.00 str=-0.26 safe=0 progress=51.8% goal=104.36m dL=0.08 ttc=13.64s tl=None credit=0 reason=
[STEP] step=0820 speed= 14.27km/h thr=0.26 brk=0.00 str=-0.03 safe=0 progress=53.6% goal=100.34m dL=0.06 ttc=12.87s tl=None credit=0 reason=
[STEP] step=0840 speed= 13.71km/h thr=0.29 brk=0.00 str=-0.14 safe=0 progress=55.4% goal=96.43m dL=0.08 ttc=12.71s tl=None credit=0 reason=
[STEP] step=0860 speed= 16.10km/h thr=0.24 brk=0.00 str=-0.11 safe=0 progress=57.3% goal=92.38m dL=0.04 ttc=16.27s tl=None credit=0 reason=
[STEP] step=0880 speed= 16.52km/h thr=0.36 brk=0.00 str=-0.10 safe=0 progress=59.2% goal=88.15m dL=0.05 ttc=16.13s tl=None credit=0 reason=
[STEP] step=0900 speed= 16.59km/h thr=0.27 brk=0.00 str=-0.08 safe=0 progress=61.3% goal=83.61m dL=0.11 ttc=15.23s tl=None credit=0 reason=
[STEP] step=0920 speed= 16.62km/h thr=0.24 brk=0.00 str=-0.03 safe=0 progress=63.4% goal=79.09m dL=0.07 ttc=16.35s tl=None credit=0 reason=
[STEP] step=0940 speed= 16.82km/h thr=0.24 brk=0.00 str=-0.05 safe=0 progress=65.6% goal=74.40m dL=0.08 ttc=17.57s tl=None credit=0 reason=
[STEP] step=0960 speed= 16.61km/h thr=0.06 brk=0.00 str=-0.00 safe=0 progress=67.8% goal=69.71m dL=0.10 ttc=22.09s tl=None credit=0 reason=
[STEP] step=0980 speed= 18.08km/h thr=0.20 brk=0.00 str=+0.09 safe=0 progress=69.9% goal=65.16m dL=0.15 ttc=44.32s tl=None credit=0 reason=
[STEP] step=1000 speed= 17.39km/h thr=0.32 brk=0.00 str=-0.01 safe=0 progress=72.1% goal=60.36m dL=0.12 ttc=48.47s tl=None credit=0 reason=
[STEP] step=1020 speed= 18.19km/h thr=0.49 brk=0.00 str=-0.16 safe=0 progress=74.4% goal=55.39m dL=0.19 ttc=43.17s tl=None credit=0 reason=
[STEP] step=1040 speed= 18.36km/h thr=0.43 brk=0.00 str=+0.01 safe=0 progress=76.7% goal=50.32m dL=0.22 ttc=134.95s tl=None credit=0 reason=
[STEP] step=1060 speed= 20.21km/h thr=0.43 brk=0.00 str=+0.02 safe=0 progress=79.2% goal=45.09m dL=0.17 ttc=162.58s tl=None credit=0 reason=
[STEP] step=1080 speed= 22.24km/h thr=0.33 brk=0.00 str=+0.07 safe=0 progress=81.9% goal=39.17m dL=0.11 ttc=174.67s tl=None credit=0 reason=
[STEP] step=1100 speed= 22.77km/h thr=0.52 brk=0.00 str=+0.12 safe=0 progress=84.8% goal=32.97m dL=0.15 ttc=157.58s tl=None credit=0 reason=
[STEP] step=1120 speed= 24.19km/h thr=0.39 brk=0.00 str=+0.03 safe=0 progress=87.8% goal=26.35m dL=0.04 ttc=168.03s tl=None credit=0 reason=
[STEP] step=1140 speed= 24.89km/h thr=0.48 brk=0.00 str=+0.08 safe=0 progress=91.0% goal=19.57m dL=0.10 ttc=177.73s tl=None credit=0 reason=
[STEP] step=1159 speed= 25.40km/h thr=0.39 brk=0.00 str=+0.02 safe=0 progress=94.1% goal=12.83m dL=0.01 ttc=152.05s tl=None credit=0 reason=goal
[Town05_zeroshot_source_agent] ep=20 R=-71.85 steps=1159 success=1 progress=94.1% DS=94.07 intv=0.173 reason=goal
[Town05_zeroshot_source_agent] avgR=-48.74 SR=100.0% avgDS=94.07 avgIS=1.000 intv=0.199 coll/km=0.0000 off/km=0.0000 to/km=0.0000
==========================================================================================
Final summary for Town05: SR=100.0% DS=94.07 IS=1.000 coll/km=0.0000 off/km=0.0000 to/km=0.0000
Episodes CSV: /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town05_zeroshot_source_agent.csv
Summary CSV : /home/umb/Desktop/car2/culrt_carla_0915_aligned/results/Town05_zeroshot_source_agent_summary.csv
WARNING: attempting to unsubscribe from stream but sensor wasn't listening: Actor 408 (sensor.other.collision) 
