From 7370cebd74fd3d5d38e30ad792cbda96aff2fd0a Mon Sep 17 00:00:00 2001
From: Shiyang-Zhao <shiyang2575326696@gmail.com>
Date: Wed, 7 May 2025 01:09:49 -0500
Subject: [PATCH 1/2] add traffic cones and show vehicle state

---
 .../threeD/public/models/traffic_cone.glb     | Bin 0 -> 1882384 bytes
 .../sr_viz/threeD/src/app/page.tsx            |  13 ++-
 .../threeD/src/components/CanvasWrapper.tsx   |   8 +-
 .../threeD/src/components/ControlPanel.tsx    |   8 +-
 .../threeD/src/components/TrafficCone.tsx     |  60 +++++++++++++
 .../src/components/VehicleInfoPanel.tsx       |  83 ++++++++++++++++++
 .../sr_viz/threeD/src/config/cameraConfig.ts  |  16 ++--
 .../threeD/src/config/trafficConeConfig.ts    |  14 +++
 .../threeD/src/hooks/useTimelineStore.ts      |   1 +
 .../sr_viz/threeD/src/types/TimelineData.ts   |   1 +
 .../sr_viz/threeD/src/utils/buildTimeline.ts  |   9 +-
 .../sr_viz/threeD/src/utils/parseLogFile.ts   |   3 +-
 log_dashboard/requirements.txt                |   1 +
 13 files changed, 197 insertions(+), 20 deletions(-)
 create mode 100644 GEMstack/onboard/visualization/sr_viz/threeD/public/models/traffic_cone.glb
 create mode 100644 GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficCone.tsx
 create mode 100644 GEMstack/onboard/visualization/sr_viz/threeD/src/components/VehicleInfoPanel.tsx
 create mode 100644 GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficConeConfig.ts

diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/public/models/traffic_cone.glb b/GEMstack/onboard/visualization/sr_viz/threeD/public/models/traffic_cone.glb
new file mode 100644
index 0000000000000000000000000000000000000000..cf0096550318652800039df1cb6624b9ca50c4ff
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literal 0
HcmV?d00001

diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx
index 1e2d0ad24..180333927 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/app/page.tsx
@@ -4,6 +4,7 @@ import { useEffect, useState } from "react";
 import ControlPanel from "@/components/ControlPanel";
 import CanvasWrapper from "@/components/CanvasWrapper";
 import Scrubber from "@/components/Scrubber";
+import { VehicleInfoPanel } from "@/components/VehicleInfoPanel";
 import { usePlaybackTime } from "@/hooks/usePlaybackTime";
 
 export default function HomePage() {
@@ -20,7 +21,10 @@ export default function HomePage() {
     setDuration,
   } = usePlaybackTime();
 
-  const [searchParams, setSearchParams] = useState<{ folder?: string; file?: string }>({});
+  const [searchParams, setSearchParams] = useState<{
+    folder?: string;
+    file?: string;
+  }>({});
 
   useEffect(() => {
     if (typeof window !== "undefined") {
@@ -33,7 +37,11 @@ export default function HomePage() {
 
   return (
     <main className="relative w-screen h-screen bg-white">
-      <ControlPanel reset={reset} folder={searchParams.folder} file={searchParams.file} />
+      <ControlPanel
+        reset={reset}
+        folder={searchParams.folder}
+        file={searchParams.file}
+      />
       <CanvasWrapper time={time} setDuration={setDuration} />
       <Scrubber
         time={time}
@@ -44,6 +52,7 @@ export default function HomePage() {
         moveToTime={moveToTime}
         duration={duration}
       />
+      <VehicleInfoPanel time={time} />
     </main>
   );
 }
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx
index 6a6c920dd..2615bf792 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/CanvasWrapper.tsx
@@ -9,6 +9,7 @@ import Agent from "./Agent";
 import TrafficLight from "./TrafficLight";
 import OtherVehicle from "./OtherVehicle";
 import Ground from "./Ground";
+import TrafficCone from "./TrafficCone";
 
 export default function CanvasWrapper({
   time,
@@ -17,7 +18,8 @@ export default function CanvasWrapper({
   time: number;
   setDuration: (duration: number) => void;
 }) {
-  const { vehicle, agents, trafficLights, otherVehicles } = useTimelineStore();
+  const { vehicle, agents, trafficLights, trafficCones, otherVehicles } =
+    useTimelineStore();
 
   useEffect(() => {
     if (vehicle.length > 0) {
@@ -52,6 +54,10 @@ export default function CanvasWrapper({
         <TrafficLight key={id} id={id} timeline={timeline} time={syncedTime} />
       ))}
 
+      {Object.entries(trafficCones).map(([id, timeline]) => (
+        <TrafficCone key={id} id={id} timeline={timeline} time={syncedTime} />
+      ))}
+
       {Object.entries(otherVehicles).map(([id, timeline]) => (
         <OtherVehicle key={id} id={id} timeline={timeline} time={syncedTime} />
       ))}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx
index cd8fc418e..32dd7e9bd 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/ControlPanel.tsx
@@ -74,9 +74,9 @@ export default function ControlPanel({
         reset();
         setFileName(file);
 
-        console.log("[✔] Timeline loaded from Flask API:", timeline);
+        console.log("Timeline loaded from Flask API:", timeline);
       } catch (err) {
-        console.error("[✘] Failed to load remote log file:", err);
+        console.error("Failed to load remote log file:", err);
       }
     };
 
@@ -119,10 +119,6 @@ export default function ControlPanel({
                 {fileName ? `${fileName}` : "No file loaded"}
               </p>
             </div>
-
-            <div className="px-4 text-xs text-gray-400 border-t border-white/10 pt-4">
-              <p>🚧 Feature toggles coming soon...</p>
-            </div>
           </>
         )}
       </div>
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficCone.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficCone.tsx
new file mode 100644
index 000000000..562ac729d
--- /dev/null
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/TrafficCone.tsx
@@ -0,0 +1,60 @@
+"use client";
+
+import { useRef, useMemo, useEffect, useState } from "react";
+import { useFrame } from "@react-three/fiber";
+import { Mesh, Object3D, MeshStandardMaterial } from "three";
+import { useGLTF } from "@react-three/drei";
+import { FrameData } from "@/types/FrameData";
+import { currentTrafficCone } from "@/config/trafficConeConfig";
+
+interface TrafficConeProps {
+  id: string;
+  timeline: FrameData[];
+  time: number;
+}
+
+export default function TrafficCone({ id, timeline, time }: TrafficConeProps) {
+  const [mounted, setMounted] = useState(false);
+
+  const ref = useRef<Mesh>(null);
+  const { modelPath, scale, rotation, offset, bodyColor } = currentTrafficCone;
+  const { scene } = useGLTF(modelPath);
+  const clonedScene = useMemo(() => scene.clone(true), [scene]);
+
+  useEffect(() => {
+    setMounted(true);
+  }, []);
+
+  useEffect(() => {
+    clonedScene.traverse((child) => {
+      if (
+        child instanceof Mesh &&
+        child.material instanceof MeshStandardMaterial
+      ) {
+        child.material = child.material.clone();
+        child.material.color.set(bodyColor);
+      }
+    });
+  }, [clonedScene, bodyColor]);
+
+  useFrame(() => {
+    const frame = timeline.find((f) => f.time >= time);
+    if (frame && ref.current) {
+      ref.current.position.set(frame.x, frame.z, frame.y);
+      ref.current.rotation.y = -frame.yaw;
+    }
+  });
+
+  const hasSpawned = timeline.length > 0 && timeline[0].time <= time;
+  if (!mounted || !hasSpawned) return null;
+
+  return (
+    <primitive
+      ref={ref as React.RefObject<Object3D>}
+      object={clonedScene}
+      scale={scale}
+      rotation={rotation}
+      position={offset}
+    />
+  );
+}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VehicleInfoPanel.tsx b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VehicleInfoPanel.tsx
new file mode 100644
index 000000000..2d5dffd97
--- /dev/null
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/components/VehicleInfoPanel.tsx
@@ -0,0 +1,83 @@
+"use client";
+import React, { useState } from "react";
+import { useTimelineStore } from "@/hooks/useTimelineStore";
+import { RxCross2 } from "react-icons/rx";
+
+export function VehicleInfoPanel({ time }: { time: number }) {
+  const [isOpen, setIsOpen] = useState(false);
+  const frames = useTimelineStore((s) => s.vehicle);
+
+  const toggleOpen = (e?: React.MouseEvent) => {
+    if (e) e.preventDefault();
+    setIsOpen((open) => !open);
+  };
+
+  if (frames.length === 0) return null;
+
+  const startTimestamp = frames[0].time;
+  const currentTimestamp = startTimestamp + time;
+  const current = frames.filter((f) => f.time <= currentTimestamp).pop();
+
+  return (
+    <React.Fragment>
+      <div
+        className={`fixed top-0 right-0 w-64 bg-black/80 text-white shadow-lg transform transition-transform duration-500 ease-in-out z-40 p-4 ${
+          isOpen ? "translate-x-0" : "translate-x-full"
+        }`}
+        onContextMenu={toggleOpen}
+      >
+        {isOpen && (
+          <>
+            <div className="flex justify-between items-center mb-2">
+              <h2 className="text-lg font-semibold">Current Vehicle State</h2>
+              <button
+                onClick={toggleOpen}
+                className="text-white p-1 rounded hover:bg-white/10"
+                title="Close Panel"
+              >
+                <RxCross2 className="w-4 h-4" />
+              </button>
+            </div>
+            {current ? (
+              <ul className="space-y-1 text-sm">
+                <li>
+                  <span className="font-medium">Timestamp:</span> {current.time}
+                </li>
+                <li>
+                  <span className="font-medium">X:</span> {current.x}
+                </li>
+                <li>
+                  <span className="font-medium">Y:</span> {current.y}
+                </li>
+                <li>
+                  <span className="font-medium">Z:</span> {current.z}
+                </li>
+                <li>
+                  <span className="font-medium">Yaw:</span> {current.yaw}
+                </li>
+                <li>
+                  <span className="font-medium">Pitch:</span> {current.pitch}
+                </li>
+                <li>
+                  <span className="font-medium">Roll:</span> {current.roll}
+                </li>
+              </ul>
+            ) : (
+              <p className="text-sm italic">No vehicle data at this time</p>
+            )}
+          </>
+        )}
+      </div>
+      {!isOpen && (
+        <button
+          onClick={toggleOpen}
+          className="fixed top-[15%] right-0 z-50 bg-black/80 text-white w-3 h-8 flex items-center justify-center rounded-l border-r border-white/20"
+          title="Open Vehicle Panel"
+          onContextMenu={(e) => e.preventDefault()}
+        >
+          <span className="text-xs">⟨</span>
+        </button>
+      )}
+    </React.Fragment>
+  );
+}
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts
index 3e30bb358..ae017432c 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/cameraConfig.ts
@@ -10,23 +10,23 @@ type CameraConfigMap = {
 
 const cameraConfig: CameraConfigMap = {
     first: {
-        position: [0, 1.3, 0],     // on top of vehicle
-        lookAt: [10, 2, 0],       // looking forward (+Z)
+        position: [0, 1.5, 0],
+        lookAt: [10, 2, 0],
         damping: 0.1,
     },
     chase: {
-        position: [-6, 3, 0],      // behind vehicle
-        lookAt: [0, 0, 0],       // looking at the rear
+        position: [-6, 3, 0],
+        lookAt: [0, 0, 0],
         damping: 0.1,
     },
     top: {
-        position: [0, 10, 0],      // overhead
-        lookAt: [0, 0, 0],         // looking forward
+        position: [0, 10, 0],
+        lookAt: [0, 0, 0],
         damping: 0.1,
     },
     side: {
-        position: [0, 2, 5],       // from the right
-        lookAt: [0, 0, -10],       // looking at vehicle side
+        position: [0, 2, 5],
+        lookAt: [0, 0, -10],
         damping: 0.1,
     },
     free: {},
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficConeConfig.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficConeConfig.ts
new file mode 100644
index 000000000..76a1e6479
--- /dev/null
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/config/trafficConeConfig.ts
@@ -0,0 +1,14 @@
+const trafficConeConfig = {
+    trafficCone: {
+        name: "Traffic Cone",
+        modelPath: "/models/traffic_cone.glb",
+        scale: [0.03, 0.03, 0.03],
+        rotation: [0, 0, 0],
+        offset: [0, 0, 0],
+        bodyColor: "#FFFFFF",
+    },
+};
+
+const currentTrafficCone = trafficConeConfig.trafficCone;
+
+export { trafficConeConfig, currentTrafficCone };
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts
index e82ea1b9b..30df1e5df 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/hooks/useTimelineStore.ts
@@ -5,6 +5,7 @@ export const useTimelineStore = create<TimelineStore>((set) => ({
     vehicle: [],
     agents: {},
     trafficLights: {},
+    trafficCones: {},
     otherVehicles: {},
     setTimeline: (timeline) => set(timeline),
 }));
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts
index 6599240aa..513ef27bc 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/types/TimelineData.ts
@@ -4,5 +4,6 @@ export interface TimelineData {
     vehicle: FrameData[];
     agents: Record<string, FrameData[]>;
     trafficLights: Record<string, FrameData[]>;
+    trafficCones: Record<string, FrameData[]>;
     otherVehicles: Record<string, FrameData[]>;
 }
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts
index 93be558bd..1c07caa7d 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/buildTimeline.ts
@@ -6,6 +6,7 @@ export function buildTimeline(entries: LogEntry[]): TimelineData {
     const vehicle: FrameData[] = [];
     const agents: Record<string, FrameData[]> = {};
     const trafficLights: Record<string, FrameData[]> = {};
+    const trafficCones: Record<string, FrameData[]> = {};
     const otherVehicles: Record<string, FrameData[]> = {};
 
     for (const entry of entries) {
@@ -32,12 +33,16 @@ export function buildTimeline(entries: LogEntry[]): TimelineData {
             const key = entry.key.trim();
             if (!trafficLights[key]) trafficLights[key] = [];
             trafficLights[key].push(frame);
-        } else if (entry.type === 'OtherVehicleState') {
+        } else if (entry.type === "TrafficConeState") {
+            const key = entry.key.trim();
+            if (!trafficCones[key]) trafficCones[key] = [];
+            trafficCones[key].push(frame);
+        }else if (entry.type === 'OtherVehicleState') {
             const key = entry.key.trim();
             if (!otherVehicles[key]) otherVehicles[key] = [];
             otherVehicles[key].push(frame);
         }
     }
 
-    return { vehicle, agents, trafficLights, otherVehicles };
+    return { vehicle, agents, trafficLights, trafficCones, otherVehicles };
 }
diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts
index af59a372e..a742e8983 100644
--- a/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/src/utils/parseLogFile.ts
@@ -22,7 +22,7 @@ export async function parseLogFile(file: File): Promise<LogEntry[]> {
           continue;
         }
 
-        if (key === 'agents' || key === 'traffic_lights' || key === 'other_vehicles') {
+        if (key === 'agents' || key === 'traffic_lights' || key === 'traffic_cones' || key === 'other_vehicles') {
           for (const [itemId, itemValue] of Object.entries(value)) {
             if (typeof itemValue === 'object' && itemValue !== null && 'data' in itemValue) {
               const frame = (itemValue as any).data?.pose?.frame;
@@ -52,6 +52,7 @@ export async function parseLogFile(file: File): Promise<LogEntry[]> {
 function guessTypeFromKey(key: string): string {
   if (key === 'agents') return 'AgentState';
   if (key === 'traffic_lights') return 'TrafficLightState';
+  if (key === 'traffic_cones') return 'TrafficConeState';
   if (key === 'other_vehicles') return 'OtherVehicleState';
   return 'Unknown';
 }
diff --git a/log_dashboard/requirements.txt b/log_dashboard/requirements.txt
index cb006a29b..c8b8d696c 100644
--- a/log_dashboard/requirements.txt
+++ b/log_dashboard/requirements.txt
@@ -1,4 +1,5 @@
 flask
+flask-cors
 pyyaml
 cachelib
 numpy

From f4f133973e5aeb7f4e2dcacfb9ac2edfc1b3beb7 Mon Sep 17 00:00:00 2001
From: Shiyang-Zhao <shiyang2575326696@gmail.com>
Date: Wed, 7 May 2025 09:53:08 -0500
Subject: [PATCH 2/2] add traffic cones and show vehicle state

---
 .../sr_viz/threeD/public/example.json         | 2831 +++++++++++++++++
 1 file changed, 2831 insertions(+)
 create mode 100644 GEMstack/onboard/visualization/sr_viz/threeD/public/example.json

diff --git a/GEMstack/onboard/visualization/sr_viz/threeD/public/example.json b/GEMstack/onboard/visualization/sr_viz/threeD/public/example.json
new file mode 100644
index 000000000..1e1cb441c
--- /dev/null
+++ b/GEMstack/onboard/visualization/sr_viz/threeD/public/example.json
@@ -0,0 +1,2831 @@
+{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 3, "t": 1739683968.5930169, "x": 4.0, "y": 5.0, "z": null, "yaw": 0.0, "pitch": null, "roll": null}, "v": 0.0, "accelerator_pedal_position": 0, "brake_pedal_position": 0.0, "acceleration": 0.0, "steering_wheel_angle": 0.0, "front_wheel_angle": 0.0, "heading_rate": 0.0, "gear": -1, "left_turn_indicator": false, "right_turn_indicator": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "time": 1739683968.6830168}
+{"agents": {}, "time": 1739683968.6830168}
+{"traffic_lights": {"traffic_light0": {"type": "TrafficLightState", "data": {"pose": {"frame": 0, "t": 0, "x": 40, "y": 0, "z": 0, "yaw": 0, "pitch": 0, "roll": 0}, "state": "green"}}, "traffic_light1": {"type": "TrafficLightState", "data": {"pose": {"frame": 0, "t": 0, "x": 80, "y": 0, "z": 0, "yaw": 0, "pitch": 0, "roll": 0}, "state": "yellow"}}}, "time": 1739683968.6830168}
+{"traffic_cones": {}, "time": 1739683968.6830168}
+{"other_vehicles": {"other_vehicle0": {"type": "OtherVehicleState", "data": {"pose": {"frame": 0, "t": 0, "x": 8.2, "y": 0, "z": 0, "yaw": 0, "pitch": 0, "roll": 0}, "dimensions": [0, 0, 0], "outline": null, "type": 3, "activity": 1, "velocity": [0, 0, 0], "yaw_rate": 0}}, "other_vehicle1": {"type": "OtherVehicleState", "data": {"pose": {"frame": 0, "t": 0, "x": -7.8, "y": 0, "z": 0, "yaw": 0, "pitch": 0, "roll": 0}, "dimensions": [0, 0, 0], "outline": null, "type": 3, "activity": 1, "velocity": [0, 0, 0], "yaw_rate": 0}}, "other_vehicle2": {"type": "OtherVehicleState", "data": {"pose": {"frame": 0, "t": 0, "x": -0.2, "y": -2, "z": 0, "yaw": 3.14159, "pitch": 0, "roll": 0}, "dimensions": [0, 0, 0], "outline": null, "type": 3, "activity": 1, "velocity": [0, 0, 0], "yaw_rate": 0}}, "other_vehicle3": {"type": "OtherVehicleState", "data": {"pose": {"frame": 0, "t": 0, "x": 9.8, "y": -2, "z": 0, "yaw": 3.14159, "pitch": 0, "roll": 0}, "dimensions": [0, 0, 0], "outline": null, "type": 3, "activity": 1, "velocity": [0, 0, 0], "yaw_rate": 0}}}, "time": 1739683968.6830168}
+{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": -2, "accelerator_pedal_position": 0, "accelerator_pedal_speed": 0, "brake_pedal_position": 0, "brake_pedal_speed": 0, "steering_wheel_angle": 0.0, "steering_wheel_speed": 0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 0.0, "gear": -1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.0, "steering_wheel_angle": 0.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1739683968.6830168}
+{"vehicle": {"type": "VehicleState", "data": {"pose": {"frame": 3, "t": 1739683968.7030168, "x": 4.0, "y": 5.0, "z": null, "yaw": 0.0, "pitch": null, "roll": null}, "v": 0.0, "accelerator_pedal_position": 0, "brake_pedal_position": 0.0, "acceleration": 0.0, "steering_wheel_angle": 0.0, "front_wheel_angle": 0.0, "heading_rate": 0.0, "gear": -1, "left_turn_indicator": false, "right_turn_indicator": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "time": 1739683968.7130167}
+{"trajectory": {"type": "Trajectory", "data": {"frame": 0, "points": [[0.0, 0.0], [1.0, 0.0], [2.0, 0.0], [3.0, 0.0], [4.0, 0.0], [5.0, 0.0], [6.0, 0.0], [7.0, 0.0], [8.0, 0.0], [9.0, 0.0], [10.0, 0.0]], "times": [0.0, 1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0]}}, "time": 1739683968.7130167}
+{"vehicle_interface_command": {"type": "GEMVehicleCommand", "data": {"gear": 1, "accelerator_pedal_position": 0.36000000000000004, "accelerator_pedal_speed": 3.0, "brake_pedal_position": 0, "brake_pedal_speed": 3.0, "steering_wheel_angle": 0.0, "steering_wheel_speed": 4.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0}}, "vehicle_interface_reading": {"type": "GEMVehicleReading", "data": {"speed": 0.0, "gear": -1, "accelerator_pedal_position": 0, "brake_pedal_position": 0.0, "steering_wheel_angle": 0.0, "left_turn_signal": false, "right_turn_signal": false, "headlights_on": false, "horn_on": false, "wiper_level": 0, "battery_level": null, "fuel_level": null, "driving_range": null}}, "time": 1739683968.7130167}
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